switch Hat/Vee to orthonormal sl(4) basis and update adjoint/tests#2360
Merged
dellaert merged 3 commits intoborglab:developfrom Jan 19, 2026
Merged
switch Hat/Vee to orthonormal sl(4) basis and update adjoint/tests#2360dellaert merged 3 commits intoborglab:developfrom
dellaert merged 3 commits intoborglab:developfrom
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dellaert
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Jan 18, 2026
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Switched SL4’s Lie algebra coordinates from the old “raw off‑diagonal + chained diagonal” parameterization to a geometrically meaningful orthonormal basis. Hat/Vee now decompose sl(4) into 3 parts: 6 skew‑symmetric rotation generators, 6 symmetric off‑diagonal shear generators, and 3 orthonormal traceless diagonal scalings. Updated the adjoint vectorization matrices to match this basis and refreshed tests to validate trace‑zero, round‑trip Hat↔Vee, and orthonormal generator inner products.