5.4 Adjoint Representation

$\displaystyle X$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \mathbf{t}\\ \hline \mathbf{0} & s^{-1} \end{array}\right)\in\mathrm{Sim}(2)$	(69)
$\displaystyle \mathrm{Adj}_{X}$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} s\mathbf{R} & s\cdot\left(\begin{ar... ... 0 \end{array} & \begin{array}{cc} 1 & 0\\ 0 & 1 \end{array}\end{array}\right)$	(70)