I highly recommend this paper for a more in-depth treatment of exp/log map and the related representation of transformations:
A Micro Lie Theory by Joan Sola, Jeremie Deray, Dinesh Atchuthan https://arxiv.org/pdf/1812.01537.pdf
25 karma · joined June 2, 2016
A Micro Lie Theory by Joan Sola, Jeremie Deray, Dinesh Atchuthan https://arxiv.org/pdf/1812.01537.pdf
Your appeal to this website is just as bad really.