**Jumble of Thoughts**: here I give myself the liberty to freely write down anything, without caring about correctness, completeness, formatting or relevance. Those draft may be incomplete, incorrect, or just plain wrong. I may convert those notes into a proper article later on, or not.

# How to derive the formula of the curvature of a curve

Every single steps detailed - 03/2023 - #Math

# General Leibniz rule Explained

how to read the multinomial theorem or general Leibniz rule formula - 03/2023 - #Math

# Visualizing the inverse theorem

How to compute slope of the inverse without the analytical formulation of the inverse itself! - 03/2023 - #Math

# Maxima cheat sheet

List of ambiguous operators - 02/2023 - #Math

# A geometric interpretation of the cross product

- 10/2022 - #Math

# Tensor basic definition

Physics, continuum mechanics, stress tensors etc. - 04/2022 - #Math

# Avoid SVD to compute optimal rotation between point sets

Optimal rotation in shape matching. - 06/2019 - #Math

Draft note

# Polar decomposition of a 3x3 matrix

3x3 SVD - 05/2018 - #Math

Leaving [ C++ code ] to decompose a 3x3 matrix into rotation and scale/shear with polar decomposition.

# Gradient rules

Multivariate calculus - differentiate expressions with nabla/gradient operator. - 01/2015 - #Math

Cheat sheet to differentiate expressions with the \( \nabla \) operator to compute gradients of various functions.

# Singular value decomposition of a 2x2 matrix (C++ code)

2x2 SVD of a matrix (code source) - 11/2013 - #Math

Dropping some [ code here] to do a singular value decomposition (SVD) of a 2 by 2 real matrix.

# C code for 4x4 matrix inversion

Just leaving some code here to invert either column or row major 4x4 matrices.