lie

JAX visitors for Lie group expressions.

AdjointDual, Adjoint, SE3Adjoint, SE3AdjointDual,

SO3Exp, SO3Log, SE3Exp, SE3Log

Lowers the SO(3)/SE(3) Lie-group primitives used in rigid-body dynamics to JAX functions. The little adjoint Adjoint (Lie bracket) and its dual AdjointDual (coadjoint) compute the twist- and wrench-space operators behind the Coriolis/centrifugal terms of the Newton-Euler equations; SE3Adjoint / SE3AdjointDual build the 6x6 matrices that transport twists and wrenches between frames. The exp/log maps (SO3Exp/SO3Log, SE3Exp/SE3Log) defer to :mod:jaxlie for numerically robust, differentiable implementations, with the twist convention [v; omega] matching jaxlie's SE(3) tangent.