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:
where \(d(.)\) is a delta operator.
The derivative expression has been derived symbolically and verified by FDs. A more compact expression may be possible.