Some general questions about Lie groups.

[Dhanushvarma]

• Let's say we have to SE3, named A and B, if we perform A.compose(B) What is the resulting homogeneous transformation, I want clarity on the order of the multiplication.

• When we do A.local(B) What exactly is being computed for the above mentioned SE3, if you could point to resources that explain this, it would be greatly appreciated

[fantaosha]

Hello, the answers are the follows.

• Suppose A=(R0, t0), B=(R1, t1). Then A.compose(B) is essentially (R0@R1, R0@t1 + t0)
• A.local(B) is log(A^-1@B)

Thanks!