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Paper / Cheat Sheet vs Code inconsistency #268
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See #109 for context and some reasoning around this. You will need to scroll down quite a lot, until around this #109 (comment). See also #114 for the final decision |
Ok so it seems like the final decision was to make the lie algebra This makes sense to me (admittedly with much less knowledge in this area than yourself and artivis) with the lie bracket equal to zero: Therefore can I suggest that the cheat sheet be updated? |
The paper and the cheat sheet has the lie algebra of the R^n group as R^n.
However in the code the lie algebra of the R^n group is an (n+1)x(n+1) matrix, and the
hat()
operator ofRnTangentBase
creates this matrix with the vector coefficients in the top right corner.I'm wondering which is correct and why there is a difference?
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