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Math Help - Expansion of Vector Two Norm

  1. #1
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    Expansion of Vector Two Norm

    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)
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  2. #2
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    also...

    Should have mentioned that R is an element of SO(3)
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