9.4 Adjoint Representation

$\displaystyle X$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \mathbf{t}\\ \hline \mathbf{0} & 1 \end{array}\right)\in\mathrm{SE}(3)$	(125)
$\displaystyle \mathrm{Adj}_{X}$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \mathbf{t}_{\times}\ma... ...R}\\ \hline \mathbf{0} & \mathbf{R} \end{array}\right)\in\mathbb{R}^{6\times6}$	(126)