SE3 Rigid Body Transformations Quick Start Core Operations Basic Matrix Operations Create/Verify SE(3) matrices: - - Validate 4x4 matrix is valid SE(3) - - Construct from rotation matrix and translation - - Extract rotation matrix and translation vector Combine/invert transformations: - - Matrix multiplication (compose transforms) - - Matrix inverse - - Compute relative transform Lie Group/Lie Algebra Mappings Vector form (preferred): - - se(3) 6D vector - SE(3) matrix, xi = [rho, theta] - - SE(3) matrix - se(3) 6D vector Matrix form (theoretical): - - se(3) 4x4 matrix - SE(3) matrix - - SE(3…