Revision as of 15:34, 8 September 2024 edit Lacshoet (talk \| contribs) Extended confirmed users 630 edits m →Generators of rotations ← Previous edit		Revision as of 15:36, 8 September 2024 edit undo Lacshoet (talk \| contribs) Extended confirmed users 630 edits m →Exponential map Next edit →
Line 153: This is the matrix for a rotation around axis {{math\|'''u'''}} by the angle {{mvar\|θ}} in half-angle form. For full detail, see [[Rotation group SO(3)#Exponential map\|exponential map SO(3)]]. Notice that for infinitesimal angles second -order terms can be ignored and remains {{math\|1=exp(''A'') = ''I'' + ''A''}} ==Relationship to skew-symmetric matrices==

Infinitesimal rotation matrix: Difference between revisions