On the BCH-formula in so(3)
Kenth Engų
Reports in Informatics No. 201, September 2000, Department of
Informatics, University of Bergen, Norway.
Abstract
We find a closed-form expression for the Baker--Campbell--Hausdorff
formula in the Lie algebra $\so(3)$, and interpret the formula
geometrically in terms of rotation vectors in $\R^3$.
Download
Back