Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or PyTorch.
cd into the repository directory (the one with
setup.py) and run:
pip install .
pip install -e .
-e flag tells pip to install the package in-place, which lets you make changes to the code without having to reinstall every time. Do not do this on shared workstations!
Ensure you have
pytest installed on your system, or install it using
conda install pytest or
pip install pytest. Then run
pytest in the repository directory.
Numpy and torch implementations are accessible through the
By default, the numpy implementation is available through the top-level package.
Access the numpy implementation using something like
from liegroups import SE3
from liegroups.numpy import SO2
Access the pytorch implementation using something like
from liegroups.torch import SE2