Dehann Fourie

Optim.retract differs from Manifolds.retract, maybe?

40

Manifolds and Optim walk into a bar asking for `Spheres`. Manifolds says the `norm` is to `project!` https://github.com/JuliaManifolds/Manifolds.jl/blob/4c6cb43b9fce3ca4b506a00a6783aed9fc06a10f/src/manifolds/Sphere.jl#L388 Optim, goes whoa dude, `retract!` https://github.com/JuliaNLSolvers/Optim.jl/blob/e439de4c997a727f3f724ae76da54b9cc08456b2/src/Manifolds.jl#L69 thunk.... ------ We (@Affie and I)...

Docs, Lie group actions are non-commutative (i.e. non-symmetric)

2

Hi, I just want to confirm one line in the docs for `exp_lie`. I have Lie group actions in general as non-commutative? https://github.com/JuliaManifolds/Manifolds.jl/blob/8274392cc6a1c406f7fe83012e2feefb85e58738/src/groups/group.jl#L846 My concern is that the composition operation...

tutorial on how to SE2

53

Good day, Please see a new tutorial for `SpecialEuclidean(2)`. There are things I still want to add, but this should be a good baseline point to clean up as needed...

Docs tutorial, "How to work with Rotations"

21

Hi @mateuszbaran , @kellertuer, Please find a new tutorial and comment as necessary, a new tutorial on `SpecialOrthogonal(2)`. My idea here was to collect the most important functions and type...

missing `affine_matrix(::Rotations{n}, p)`?

9

Perhaps there already is a function to extract the rotation matrix from `SpecialOrthogonal(n)` or `Rotations(n)`? If not, would `affine_matrix` be the right API, since rotations can be implemented as a...

Get basic CJL.ScatterAlignPose3 functional on standardized code

9

TAC get SAP3 functional as simple point to point alignment. Notes - separate issue to upgrade ScatterAlignPose3 to also use point normals.

https://juliarobotics.org/Caesar.jl/latest/examples/custom_variables/

From Slack (Jim): Dehann, Johan, Could we drop a unit test for serialization of ScatterAlignPose2 somewhere in the Caesar ecosystem? After upgrade, the other stuff seems to be working but...

Fix links on CJL Docs References Page

1

Many of these links seem to be stale: https://juliarobotics.org/Caesar.jl/latest/refs/literature/

Compile Static .so libraries for multi-language or executable use

4

see: - https://juliacomputing.com/blog/2016/02/09/static-julia.html - https://github.com/JuliaLang/PackageCompiler.jl - https://discourse.julialang.org/t/compiler-work-priorities/17623