udaan.manif.utils module

udaan.manif.utils.expm_taylor_expansion(M, order=2)

udaan.manif.utils.hat(vector)

udaan.manif.utils.rodrigues_expm(vector)

Closed-form matrix exponential for so(3) via Rodrigues’ formula.

Exact for 3-vectors (skew-symmetric generators) and ~1.5x faster than scipy.linalg.expm over the hat map. Uses Taylor expansion for small angles to avoid division-by-zero and maintain accuracy.

udaan.manif.utils.vee(matrix)