About Rodrigues' rotation formula
In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3), the group of all rotation matrices, from an axis–angle representation. In terms of Lie theory, this Rodrigues' formula provides an algorithm to compute the exponential map from the Lie algebra so(3) to its Lie group SO(3).
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