Being C=C(fv0) the rotation matrix depending on the Cartesian rotation vector fv0 and defined as C=crv2rotation(fv0), the function returns the derivative, w.r.t. the CRV components, of the vector dot(C.T,v), where v is a constant vector.
The elements of the resulting derivative matrix D are ordered such that:
where \(d(.)\) is a delta operator.