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Sep 6, 2015 at 0:11 vote accept Tim Nguyen
Sep 6, 2015 at 0:11 comment added Tim Nguyen Thank you! I ultimately want an SDE that relates the Lie group variables to the Lie algebra variables, but that general formula will be enough for me to get going.
Sep 5, 2015 at 17:45 history answered R W CC BY-SA 3.0