Least Squares, Minimum Norm, Pseudo-Inverse Solutions
May 4, 2025
Preface For a system of linear "equations" (may not actually be equal)
Deep Into the Mountains
Apr 27, 2025
Some lesser-known spots in Baili Landscape Gallery, Yanqing, Beijing.
Rotation Dynamics, Magnus Series, and Implementation
Apr 20, 2025
Rotation Matrix Derivative, Exponential, Magnus Series As discussed in 2020@Huber and Welshman@2013 , the time derivative of a rotation matrix $R$ with an angular velocity $\omega$ is given by
