Manifold Geometry C++ Library

Templated, header-only library implementing the SO(3) and SE(3) manifolds, along with their 2D corollaries. Operationally very similar to variations on Eigen's Quaternion<T> class, but with added chart maps and rules for addition and subtraction on tangent spaces. Meant to be used with nonlinear least-squares solvers like Ceres Solver which take advantage of templating to implement auto-differentiation on arbitrary mathematical formulations in code.

The SO3 math is based on my notes on 3D rotation representations.

Building / Installing

This library is built with CMake. Most recently tested with the following dependency versions:

• Eigen 3.4.0
• Boost 1.79.0 (for unit test framework)

mkdir build
cd build
cmake ..
make # or make install

By default, building will build and run the unit tests, but this can be turned off with the CMake option BUILD_TESTS.