Further Example: Logarithm of Rotations in 3D Space
A rotation in the 3D is given by a 3x3 orthogonal matrix
The logarithm of the rotation matrix R can be computed with Rodrigues' rotation formula (see also Axis angle), except when R has eigenvalues equal to −1 where the log is not unique.
Note that, given rotation matrices A and B:
is the geodesic distance on the 3D manifold of rotation matrices.
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