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Equation 36 · Part 8 · A Reference Frame Becomes Classical by Publishing Its Orientation

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d(R1,R2)=cos⁡−1 ⁣(Tr⁡(R1TR2)−12),d(R_1,R_2)= \cos^{-1}\!\left(\frac{\operatorname{Tr}(R_1^{\mathsf T}R_2)-1}{2}\right),
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What this part means

A raised number can be a power. When it is a label or bound, it selects a case or the upper limit of a sum; the formula’s structure distinguishes these uses.

Its job in the formula

A raised mark can be a power or an index. Its position and the surrounding notation determine which.

The passage around this formula

For SO(3) , a coordinate-free angular distance between two rotations can be defined by d(R1,R2)=cos⁡−1 ⁣(Tr⁡(R1TR2)−12)d(R_1,R_2)= \cos^{-1}\!\left(\frac{\operatorname{Tr}(R_1^{\mathsf T}R_2)-1}{2}\right). with values from zero to π\pi . Radians are dimensionless in SI, but d still has the operational meaning of an angular error. A different group requires a declared invariant metric appropriate to that group. A coordinate chart’s Euclidean distance is not an acceptable substitute near its singularities.

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Learn the underlying idea

An exponent tells how a base is used in multiplication. In x³, x is the base and 3 is the exponent: x³ = x × x × x.

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Sources cited in the article section

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