Since I haven't had time to latex up my evolving lectures, the next best thing would be to provide the source notes that are used to generate them. There are two versions here,

1. Original notes from 2005.
2. Student notes from 2007 (recommended).

Here are some additional notes created after the original set.

1. Coordinates systems and reference frames.
2. Planar reference frames.
3. Exp and Log for $SO(3)$ and $\mathfrak{so}(3)$

1. Lie Groups

ECE4560 – Main