BIT Numerical Mathematics

, Volume 41, Issue 3, pp 629–632 | Cite as

On the BCH-formula in so(3)

  • Kenth Engø

Abstract

We find local closed-form expression for the Baker—Campbell—Hausdorff formula in the Lie algebra so(3), and interpret the formula geometrically in terms of rotation vectors in ℝ3.

Baker-Campbell-Hausdorff formula Lie algebra so(3) rotations in ℝ3 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

REFERENCES

  1. 1.
    A. Iserles, H. Z. Munthe-Kaas, S. P. Nørsett, and A. Zanna, Lie-group methods, Acta Numerica, 9 (2000), pp. 215-365.CrossRefGoogle Scholar
  2. 2.
    J. E. Marsden and T. S. Ratiu, Introduction to Mechanics and Symmetry, no. 17 in Texts in Applied Mathematics, Springer-Verlag, 2nd ed., 1999.Google Scholar
  3. 3.
    V. S. Varadarajan, Lie Groups, Lie Algebras, and Their Representations, GTM 102, Springer-Verlag, 1984.Google Scholar

Copyright information

© Swets & Zeitlinger 2001

Authors and Affiliations

  • Kenth Engø
    • 1
  1. 1.Department of InformaticsUniversity of BergenBergenNorway

Personalised recommendations