C++ implementation of Lie Groups using Eigen.
C++ CMake
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Latest commit 61cb867 Aug 13, 2015 3 @stevenlovegrove committed with Steven Lovegrove Add EIGEN_DEVICE_FUNC annotation for SE3 and SO3 classes.

README

Sophus (version 0.9)

C++ implementation of Lie Groups using Eigen.

Thanks to Steven Lovegrove, Sophus is now fully templated  - using the Curiously Recurring Template Pattern (CRTP).

(In order to go back to the non-templated/double-only version "git checkout a621ff".)

Installation guide:

>>>
cd Sophus
mkdir build
cd build
cmake ..
make
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