manif-geom-rs
Rust implementations of SO(2), SE(2), SO(3), and SE(3), compatible with manif-geom-cpp.
Provides complete 2D and 3D rotation and rigid-transform Lie groups, including matrix conversions, point actions, composition, inverse, exponential and logarithmic maps, right-side perturbations, contiguous coefficient access, scalar casts, and nalgebra quaternion interop.
Coefficient and tangent ordering follow manif-geom-cpp.