Introduction

Templated, header-only library implementing the most common manifolds in robotics in 2D and 3D. 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 (http://ceres-solver.org/) which take advantage of templating to implement auto-differentiation on arbitrary mathematical formulations in code.

The \(SO(3)\) math is based on my notes on 3D rotation representations.

For more information, see https://andrewtorgesen.com/anixpkgs/cpp/manif-geom-cpp.html.

Installation

This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of Eigen and Boost (unit test framework only).

Install with

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

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