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Feb 7, 2010 at 0:16 comment added Sam Lewallen Thanks! This is very clear, and I think you are right that the situation is not very difficult. But my confusion started as soon as we go from \R^n to some more complicated group, so that the Lie bracket is non-trivial.
Feb 6, 2010 at 21:23 history edited Ilya Grigoriev CC BY-SA 2.5
Added footnote
Feb 6, 2010 at 20:53 history answered Ilya Grigoriev CC BY-SA 2.5