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Theory Manual Version 3.4
 Section 6.3: Rigid Body Dynamics Up Section 6.3: Rigid Body Dynamics Subsubsection 6.3.1.1: Exponential Map 

6.3.1 Rigid Body Rotation

 Section 6.3: Rigid Body Dynamics Up Section 6.3: Rigid Body Dynamics Subsubsection 6.3.1.1: Exponential Map 

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