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Draft: Highly accurate tangent operator

Juliano Todesco requested to merge Highly_accurate_tangent_operator into master

A new math folder based on J. Todesco and O. Bruls. Highly accurate differentiation of the exponential map and its tangent operator. Mechanism and Machine Theory, 190, p.105451, 2023. https://doi.org/10.1016/j.mechmachtheory.2023.105451

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