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the only unknown term is ∂∂sfk . Derivative of s with respect the features can be
written as:
rT R−1 r ∂rT
!
∂s ∂rT ∂r T −1 ∂r
= −σ
2
R r+r R
−1 T −1
+ 2 T −1 R r+r R
−1
∂ fk ∂ fk ∂ fk 1 R 1 ∂ fk ∂ fk
T −1 !
r R r ∂rT ∂r
= −σ2 2 T −1 + 1 R−1 r + rT R−1
(6)
∂ fk ∂ fk
1 R 1
Force can be written as:
X ∂ Q̂A + sA ∂T AB ∂ Q̂B + sB
FiΩ =
Ω
T AB Q̂B + sB + Q̂A + sA Ω
(Q̂B + sB ) + (Q̂A + sA )T AB Ω
AB
∂α i ∂α i ∂α i
(7)
which results in:
∂ Q̂A + sA ∂ Q̂B + sB
A ∂T AB
T AB Q̂ + s + Q̂ + s
B B A
(Q̂ + s ) + (Q̂ + s )T AB
B B A A
∂αΩ
i ∂αΩ
i ∂αΩ
i
∂ Q̂A ∂ sA
= T AB Q̂B + sB + Ω AB
T Q̂B + sB
∂αΩi ∂α i
∂T AB ∂ Q̂B ∂ sB
+ Q̂A + sA (Q̂B + sB ) + (Q̂A + sA )T AB + (Q̂A + sA )T AB (8)
∂αΩi ∂α Ω
i ∂αΩi