3 ms·

Thanks for the link to the Rodrigues form, that's quite interesting. Slightly confused by your comment though, shouldn't the matrix logarithm produce another ma

Thanks for the link to the Rodrigues form, that's quite interesting. Slightly confused by your comment though, shouldn't the matrix logarithm produce another matrix?

rsp1984 2y ago
You're correct. The logarithm produces what's essentially a cross product matrix, 0 on the diagonal and symmetric off-diagonal. The off-diag elements are the 3-vector I was talking about. Thanks for pointing that out.