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We present a compact formula for the derivative of a 3-D rotation matrix withrespect to its exponential coordinates. A geometric interpretation of theresulting expression is provided, as well as its agreement with otherless-compact but better-known formulas. To the best of our knowledge, thissimpler formula does not appear anywhere in the literature. We hope byproviding this more compact expression to alleviate the common pressure toreluctantly resort to alternative representations in various computationalapplications simply as a means to avoid the complexity of differential analysisin exponential coordinates.

A compact formula for the derivative of a 3-D rotation in exponential coordinates