Hello,

This seems like it should be easy, but I don't know the verbiage to search for a method to learn. I am attempting to expand a vector two norm of a vector equation.

R is a 3x3 matrix

p is a 3x1 vector

t is a 3x1 vector

q is a 3x1 vector

||Rp+t-q||^2

The first step is knowing that the above equals:

(Rp+t-q)^Transpose(Rp+t-q)