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.


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