exp: g → G, X ↦ exp(X) maps Lie algebra to Lie group. Local diffeomorphism near 0. Maps one-parameter subgroups. Basis for matrix-Lie-group computations + numerical integration on manifolds (Magnus expansion).
exp: g → G, X ↦ exp(X) maps Lie algebra to Lie group. Local diffeomorphism near 0. Maps one-parameter subgroups. Basis for matrix-Lie-group computations + numerical integration on manifolds (Magnus expansion).