| Re: [eigen] Potential unsupported module: Lie Groups |
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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Potential unsupported module: Lie Groups
- From: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>
- Date: Sun, 6 May 2012 14:20:58 -0400
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Last year, something reminiscent of this was announced on this list:
http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2011/08/msg00089.html
Unfortunately it didn't get replies.
Benoit
2012/5/6 Keir Mierle <mierle@xxxxxxxxx>:
> I would find this useful.
>
> Keir
>
>
> On Sun, May 6, 2012 at 8:24 AM, Hauke Strasdat <strasdat@xxxxxxxxx> wrote:
>>
>> Hi,
>>
>> I wrote a small library based on Eigen for various Lie groups: group
>> of in-plane rotation SO(2), group of 3d rotation SO(3), group of
>> rotation and translation in 2d SE(2), group of rotation and
>> translation in 3d SE(3),
>> group of rotation and scaling "ScSO(3)", group of rotation,
>> translation and scaling Sim(3):
>> https://github.com/strasdat/Sophus
>>
>> All groups offer closed form solutions for the matrix exponential and
>> logarithm, adjoint representation, group action,
>> generators, Lie brackets etc.
>> Internally, SO(3), SE(3), ScSO(3) and Sim(3) are based on quaternions,
>> so the group operation can be calculated efficiently.
>> Also, a number of unit test are included (which verify that
>> singularities in exp and log are sidestepped properly).
>>
>> I am aware that this library has quite an overlap with the Geometry
>> module. Still, I think it might be quite useful to
>> some users since it offers additional functionality and a unified API.
>> If there is some interest, I could add it as an unsupported Eigen
>> module. In the long run,
>> one could try to figure out, how to merge it or integrate it further
>> with the Geometry module.
>>
>> (At the moment it is a non-template library which only has "double"
>> support. However, if I were to add it
>> as an unsupported module, I would be happy to turn it into a header
>> only library with additional "float"
>> support.)
>>
>> Hauke S.
>>
>>
>