Hello,
Given a Lie group G and a smooth path γ:[-ε,ε]→G centered at g∈G (i.e., γ(0)=g), and assuming I have a chart Φ:G→U⊂ℝn, how do I define the derivative \frac{d\gamma}{dt}\mid_{t=0} ?
I already know that many books define the derivative of matrix Lie groups in terms of an "infinitesimal...