r:red">trexp</span>(<strong>s</strong>, <strong>theta</strong>) as above, but rotation of <strong>theta</strong> about the unit vector <strong>s</strong>.

</p>
<p>
<strong>R</strong> = <span style="color:red">trexp</span>(<strong>w</strong>) as above, but the so(3) value is expressed as a vector <strong>w</strong>
(1x3) where <strong>w</strong> = <strong>s</strong> * <strong>theta</strong>. Rotation by ||<strong>w</strong>|| about the vector <strong>w</strong>.

</p>
<h2>For se(3)</h2>
<p>
<strong>T</stron