Lie Algebra Cheatsheet

Inspired from 'State Estimation for Robotics' by Tim Barfoot and a lot of Lie algebra courses found online.

The aim is to regroup all the basic notions of Lie Algebra in one place, as there is a lot of notations to remember!

Also, check Tim Barfoot's website for

• the pdf version of the book
• a cheatsheet of all useful identities of Lie groups, algebras and jacobians.

Feel free to suggest and add other notions that you feels necessary for a basic understanding of the field!

To compile and generate the png version, install latexmk and pdftoppm then run

latexmk main

Or if you do not want to use latexmk, run

pdflatex main.tex; pdftoppm -png main.pdf preview