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I'm working on a model that would require to use vectorial functions of $\mathbb{R}^n \rightarrow \mathbb{R}^n$, such that $\forall x, y \in \mathbb{R}^n$, $\lVert \frac{df(x)}{dx}(y) \lVert_2 = \...

(Disclaimer : I know very well that $SO(N)$ has a Lie algebra of dimension $N(N-1)/2$ etc. This absolutely not the point of my question.) To make my problem more understandable, I start with the ...

Every $A \in \text{GL}_n(\mathbb{R})$ has a unique orthogonal polar factor $O_A=A(\sqrt{A^TA})^{-1}$, ( $A=O_AP_A$, $O \in \operatorname{O}_n, P \in \operatorname{Psym}_n$see Polar decomposition). ...