manif
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artivis
A small C++11 header-only library for Lie theory.
After seeing [this post on ROS Dicourse](https://discourse.ros.org/t/release-of-dual-quaternions/15911) and the comments asking for a c++ implementation, I wondered if 'Unit Dual Quaternions' (`DH_u` I believe) would be an interesting/useful addition to...
This PR adds the unit dual quaternion group, currently called `DHu`. note: I suspect there is a better name than `DHu` Draft implementation: Group + [x] `DHu::Random` + [x] `DHu::Inverse`...
This PR initiate a large cleanup of the internal API relying on traits to overload the different group/tangent functions for each derived. It cleans up the old API design debt...
Hi: Great work. I'm working on optimization problem by using manif so I can solve the problem with Lie group. But when I worked on autodiff in ceres solver by...
Dear all, I am wondering whether manif should adopt the (anti) aliasing [helper functions native to Eigen](https://eigen.tuxfamily.org/dox/group__TopicAliasing.html). In particular, I believe that Eigens `.eval()` and `.noalias()` could be relevant and...
I've posted a [question](https://math.stackexchange.com/q/3716704/681195) in StackExchange. Can someone help me solve this problem?
It might be beneficial to revive [CppAD integration](https://github.com/artivis/manif/commits/cppad) in `manif` and make sure (tests) that it works fine.
At the moment, the `act` function treats its input argument as a point and act on it accordingly (e.g. SE2 rotates and translates). It would be great if `act` could...
Following my [comment on sophus](https://github.com/strasdat/Sophus/issues/192#issuecomment-533065151) I suspected that [Marsaglia's rejection sampling](http://mathworld.wolfram.com/HyperspherePointPicking.html) is faster than the more elegant method that is currently being used. So I implemented this method. Below are...
