xpression
</p><pre>
       d( dehat logm(vl_hat(R)) )
  dom = ----------------------.
               d(vec R)^T
</pre><p>
[OM,DOM] = <a href="VL_IRODR.html">VL_IRODR</a>(R) when R is a 9xK matrix repeats the operation
for each column (or equivalently matrix with 9*K elements). In
this case OM and DOM are arrays with K slices, one per rotation.
</p><p>
See also: <a href="VL_RODR.html">VL_RODR</a>(), <a href="VL_HELP.html">VL_HELP</a>().
</p></div></div>
   </div>
   <div class="clear">&nbsp;</di