spatial math 2 SO2 2 SE2 2 SO3 2 SE3 2 SO(2) 2 SE(2) 2 SO(3) 2 SE(3) 2 twist 2 product of exponential 2 translation 2 orientation 2 angle-axis 2 Lie group 2 skew symmetric matrix 2 pose 2 rotation matrix 2 rigid body transform 2 homogeneous transformation 2 Euler angles 2 roll-pitch-yaw angles 2 quaternion 2 unit-quaternion 2 robotics 2 robot vision 2 computer vision 2 2d 2 3d 2 animation 2 euler-angles 2 graphics 2 math 2 python 2 robot 2 roll-pitch-yaw-angles 2 rotation-matrix 2 so3 2 transform 2