/sci/ - Science & Math

>>12102861
If you mean the brackets, it's mapping the 3D vector [math] t [/math] into the the standard so(3) representation, i.e.
[math] [t]_\times d = t\times d [/math]
https://youtu.be/gBMdTSXhYsY

I've come in contact with PGO and there's a fantastic 150 page writeup on the rotation involved, including all the Jacobians and they exotic addition and subtraction operations in tangent space that I glimpse in your paper. I can dig it out tomorrow if you will