Sophus

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Sophus (version 0.9)

C++ implementation of Lie Groups using Eigen.

Thanks to Steven Lovegrove, Sophus is now fully templated - using the Curiously Recurring Template Pattern (CRTP).

(In order to go back to the non-templated/double-only version "git checkout a621ff".)

Installation guide:

cd Sophus mkdir build cd build cmake .. make <<<