This repository includes the C++ implementation of several identities and functions on SO(3) and SE(3)
To use the code, simply copy and paste the file into the code directory and include the file to the code. E.g.,
#include "lie_utils.h"
The only dependency requried is the Eigen 3 package, which a commonly used Linear Algebra pacakge in C++.
Some notes regarding the usage of the file, please refer to 3D_Utilities_Note.pdf in this repository.
Other useful references:
- Google Ceres-solver: the “rotation.h” file provides good tamplated functions for operations on SO(3)
- Dr. Lee Clement’s Python Implementation of Lie Group operations on GitHub
- Dr. Martin Brossard’s Python implementation of Lie Group utility and plotting functions
- and many others
