@sssmcgrath So, _apparently_, and I haven't followed up on this, but _apparently_ exp map _isn't_ actually constant velocity either.
@sssmcgrath That's what some grad students wrote to me in 2010 and said they'd proved. Haven't followed up but I suspect they're right.
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@sssmcgrath So expmap is kind of a completely worthless orientation rep, I guess. It literally does nothing good when not ang. vel.Thanks. Twitter will use this to make your timeline better. UndoUndo
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