I couldn't find where does the implementation of exp_map_SE(3) comes form. I have found one of implementations in the book (see screenshot, from Modern Robotics by Lynch), but it looks different from ...

# images of the exp for all observations given, it will even create ones for obs without the excl.reg file # Files will be stored in a directory in the Xray directory under Dan's working site. # This ...

Abstract: Deriving a robot’s equations of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic ...