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I need to find the Jacobian of a product of SE(3) group transformations:

$G = X*Y*X^{-1}$

Help appreciated!

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I don't know what SE(3) is. I don't know what $G$, $X$, and $Y$ are meant to be. And I don't know what the Jacobian of a group product means. Judging from the amount of response to the question, I'm not the only one. –  Gerry Myerson Jul 3 '12 at 0:41

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