ic">matrix exponential for so(3) and se(3)</span></p><h2>For so(3)</h2>
<p>
<strong>R</strong> = <span style="color:red">trexp</span>(<strong>omega</strong>) is the matrix exponential (3x3) of the so(3) element <strong>omega</strong> that
yields a rotation matrix (3x3).

</p>
<p>
<strong>R</strong> = <span style="color:red">trexp</span>(<strong>omega</strong>, <strong>theta</strong>) as above, but so(3) motion of <strong>theta</strong>*<strong>omega</strong>.

</p>
<p>
<strong>R</strong> = <span style="colo