otion of <strong>sigma</strong>*<strong>theta</strong>, the
rotation part of <strong>sigma</strong> (4x4) must be unit norm.

</p>
<p>
<strong>T</strong> = <span style="color:red">trexp</span>(<strong>tw</strong>, <strong>theta</strong>) as above, but se(3) motion of <strong>tw</strong>*<strong>theta</strong>, the
rotation part of <strong>tw</strong> (1x6) must be unit norm.

</p>
<h2>Notes</h2>
<ul>
  <li>Efficient closed-form solution of the matrix exponential for arguments that are
so(3) or se(3).</li>
 