Re: [eigen] Potential unsupported module: Lie Groups |

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Potential unsupported module: Lie Groups*From*: Mathieu Gautier <mathieu.gautier@xxxxxx>*Date*: Wed, 16 May 2012 16:09:43 +0200*Cc*: Hauke Strasdat <strasdat@xxxxxxxxx>

Le 07/05/2012 14:19, Hauke Strasdat a écrit :

On Sun, May 6, 2012 at 7:20 PM, Benoit Jacob<jacob.benoit.1@xxxxxxxxx> wrote:Last year, something reminiscent of this was announced on this list: http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2011/08/msg00089.htmlActually, I quite like the design of LGSM: https://bitbucket.org/jsreng/eigen/src/9220daa0078a/unsupported/Eigen/src/Lgsm. It has similar features to my proposal (e.g. quaternion-based SO(3), vector-based Lie brackets, adjoint...), but offers nice interfaces (LieGroup, LieAlgebra). Some features seem to be missing (e.g. hat-operator& vee-operator which are especially useful to test the correctness of the Lie bracket in unit tests), but these could be added easily.

Hi,

I think it would be a great idea to add an unsupported module based on this proposal.

Then, we could merge other Lie group/algebra classes and unit tests into it. LGSM offers at the moment SO(3) and SE(3). Just, I think we should rename LGSM to "LieGroups" or something else more general...

I think a first step could be to integrate quaternion exp and log into Eigen, maybe also add scaled-axis representation (i.e. the result of SO3::log) as another representation for rotations.This would be nice. Still, I'd like the idea of a Lie Group module.

In my opinion, the Lie group module should offer an convenient and unified API, while some implementation could be in the Geometry module in order to avoid code duplicates. (e.g. SO3::log could be implemented as "Vector3 Quaternion<...>::GetRotationVector(...) const").

-- Mathieu Gautier

**References**:**[eigen] Potential unsupported module: Lie Groups***From:*Hauke Strasdat

**Re: [eigen] Potential unsupported module: Lie Groups***From:*Christoph Hertzberg

**Re: [eigen] Potential unsupported module: Lie Groups***From:*Hauke Strasdat

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