template<typename T>
struct LieGroups::SO3::RodriguesCoefficients< T >
Rodrigues coefficients a = sin(t)/t, b = (1 - cos t)/t^2 and the derivatives that appear in the derivatives of exp. With x = t^2 = w.w the chain rule gives d a/d w_k = diff_a w_k, d^2 a/d w_k d w_m = diff_a d_km
- diff_diff_a w_k w_m and d^3 a/d w_k d w_m d w_n = diff_diff_a (d_km w_n
- d_kn w_m + d_mn w_k) + diff_diff_diff_a w_k w_m w_n, i.e. diff_a = 2 da/dx, diff_diff_a = 4 d2a/dx2, diff_diff_diff_a = 8 d3a/dx3, and the same for b. For t < 1 the series in x is used: the closed forms cancel catastrophically there (the second derivative loses about eps/t^5, the third about eps/t^7).
Definition at line 221 of file Lie.hpp.
