# der_TanT_by_xv¶

Being fv0 a cartesian rotation vector and Tan the corresponding tangential operator (computed through crv2tan(fv)), the function returns the derivative of dot(Tan^T,xv), where xv is a constant vector.

The elements of the resulting derivative matrix D are ordered such that:

$d(Tan^T*xv) = D*d(fv)$

where $$d(.)$$ is a delta operator.

Note

The derivative expression has been derived symbolically and verified by FDs. A more compact expression may be possible.