The Lie algebra so(n) is the space of real antisymmetric n×n matrices (X^T = -X), of dimension C(n,2) = n(n-1)/2. It is the Lie algebra of the compact orthogonal group SO(n) = {R ∈ GL_n(ℝ) : R^T R = I, det R = 1}. The exponential map exp…
The Lie algebra so(n) is the space of real antisymmetric n×n matrices (X^T = -X), of dimension C(n,2) = n(n-1)/2. It is the Lie algebra of the compact orthogonal group SO(n) = {R ∈ GL_n(ℝ) : R^T R = I, det R = 1}. The exponential map exp…