4.4 Adjoint Representation

$\displaystyle X$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \mathbf{t}\\ \hline \mathbf{0} & 1 \end{array}\right)\in\mathrm{SE}(2)$	(54)
$\displaystyle \mathrm{Adj}_{X}$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \left(\begin{array}{c}... ...t}_{1}\\ -\mathbf{t}_{0} \end{array}\right)\\ \hline 0 & 1 \end{array}\right)$	(55)