In the function that calculates the transformation from Lie algebra to Lie group, there is a formula for calculating the transformation of the translation vector:
V = I + B wx + C (wx @ wx)
However, should the transformation formula be modified as follows, with a coefficient multiplied before the identity matrix?
The code does not use this coefficient and still produces reliable results. Could you please clarify if this has any impact?
计算李代数到李群的函数中有一段计算平移向量转换的公式
V = I+Bwx+Cwx@wx
但是转换公式是否应该如下所示，在单位矩阵之前应该乘一个系数呢？
代码中没有使用这个系数也得到了可靠的结果，请问是否有影响呢？
In the function that calculates the transformation from Lie algebra to Lie group, there is a formula for calculating the transformation of the translation vector: V = I + B wx + C (wx @ wx)
However, should the transformation formula be modified as follows, with a coefficient multiplied before the identity matrix?
The code does not use this coefficient and still produces reliable results. Could you please clarify if this has any impact?
计算李代数到李群的函数中有一段计算平移向量转换的公式 V = I+Bwx+Cwx@wx 但是转换公式是否应该如下所示，在单位矩阵之前应该乘一个系数呢？ 代码中没有使用这个系数也得到了可靠的结果，请问是否有影响呢？