jaxtransform3d.rotations.left_jacobian_SO3_inv_series

jaxtransform3d.rotations.left_jacobian_SO3_inv_series(axis_angle: Array) → Array

Inverse left Jacobian of SO(3) at theta from Taylor series with 10 terms.

Parameters:

axis_anglearray, shape (…, 3)

Compact axis-angle representation.

Returns:

J_invarray, shape (…, 3, 3)

Inverse left Jacobian of SO(3).

See also

left_jacobian_SO3_inv

Inverse left Jacobian of SO(3) at theta (angle of rotation).