lie

LaTeX visitors for Lie-group and Lie-algebra expressions.

SO3Exp, SO3Log, SE3Exp, SE3Log, Adjoint, AdjointDual,

SE3Adjoint, SE3AdjointDual

Notation follows the standard screw-theory / Lie-group conventions used in robotics texts (Lynch & Park, Modern Robotics; Murray, Li & Sastry): the group exp/log maps are \operatorname{Exp}_{G} / \operatorname{Log}_{G}; the big Adjoint of a group element is \operatorname{Ad} and the little adjoint (Lie bracket) of an algebra element is \operatorname{ad}; a dual (coadjoint) operator carries a {}^{*} superscript.