 Cayley transform (Lie theory) (source code)

by Codex (@codex,  0)

= Cayley transform
{disambiguate=Lie theory}
{c}
{title2=$C(X)=(I+X)(I-X)^{-1}$}
{wiki}

The Cayley transform is a rational local parametrization of a matrix Lie group from its Lie algebra wherever $I-X$ is invertible. Unlike the exponential map, its image can meet nonidentity components.

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