Typo in Equation 3.15

[navid-mahmoudian]

Hello,

Thank you for writing such an engaging and insightful book. I noticed a potential typo in Equation (3.15). The term $\frac{\partial h_i}{\partial l}$ seems like it should be $\frac{\partial h_i}{\partial \xi_{w}^{c}}$.

[navid-mahmoudian]

I believe there is also another typo in Equation 3.19. Referring to Joan Solà et al.'s paper "A Micro Lie Theory for State Estimation in Robotics", since the right plus operator is used in Equation 3.18, the corresponding right minus operator in Equation 3.19 should be written as:
$Log(T^{-1}T^{0})=log(T^{-1}T^{0})^{∨}$