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A small C++11 header-only library for Lie theory.
| Date | Stars |
|---|---|
| 2026-07-24 | 1791 |
| 2026-07-25 | 1791 |
| 2026-07-28 | 1793 |
| 2026-07-30 | 1793 |
| 2026-08-06 | 1793 |
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# manif ## A small header-only library for Lie theory [![GHA][badge-ci-img]][badge-ci] [![appveyor][badge-ci-win-img]][badge-ci-win] [![Documentation][badge-doc-img]][manif-doc] [![codecov][badge-cov-img]][badge-cov] ![GitHub][badge-license] [![JOSS][badge-joss-img]][deray20] ## Package Summary <!-- Include start manif intro --> **manif** is a Lie theory library for state-estimation targeted at robotics applications. It is developed as a header-only C++11 library with Python 3 wrappers. At the moment, it provides the groups: - ℝ(n): Euclidean space with addition. - SO(2): rotations in the plane. - SE(2): rigid motion (rotation and translation) in the plane. - SO(3): rotations in 3D space. - SE(3): rigid motion (rotation and translation) in 3D space. - SE_2(3): extended pose (rotation, translation and velocity) in 3D space, introduced (to the best of knowledge) in this [paper][barrau15]. NOTE: The implementation here differs slightly from the developments in the [paper][barrau15]. - SGal(3): The Special Galilean group (rotation, translation, velocity and time) in 3D space, described in these papers [[1][fourmy19]] & [[2][kelly24]]. - Bundle<>: allows manipulating a manifold bundle as a single Lie group. Referred to as a *composite manifold* in Section IV of the [reference paper](http://arxiv.org/abs/1812.01537). Other Lie groups can and will be added, contributions are welcome. **manif** is based on the mathematical presentation of the Lie theory available in [this paper][jsola18]. We recommend every user of **manif** to read the paper (17 pages) before starting to use the library. The paper offers a comprehensive yet accessible introduction to Lie theory, tailored specifically for roboticists. By presenting the material in a simplified manner, it lowers the barrier to entry for those interested in developing rigorous and elegant algorithms for state estimation, control, learning, and possibly more. This approach ensures that even readers without an advanced mathematical background can grasp the foundational concepts and apply them effectively in robotics. <!-- Include stop manif intro --> You may also find the following video online, ['Lie theory for the roboticist'][jsola-iri-lecture], a lecture given at [IRI-UPC][IRI-UPC]. > In a rush? Check out our [Lie group cheat sheet][cheat_sheet]. **manif** provides analytic computation of Jacobians for all the operations listed [below](#features). ### Details - Maintainer status: maintained - Maintainer: Jeremie Deray - Authors: - Jeremie Deray [[email protected]](mailto:[email protected]) - Joan Sola [[email protected]](mailto:[email protected]) - License: [MIT](LICENSE) - Bug / feature tracker: [github.com/artivis/manif/issues][manif-issue] - Source: [github.com/artivis/manif.git][manif-repo] (branch: devel) ## Quick Start Get quickly started with **manif** following our 'quick start' guides for both [C++](docs/pages/cpp/Quick-start.md) and [Python](docs/pages/python/Quick-start.md). ## Features ### Available Operations <!-- Include start manif operation --> | Operation | | Code | | :--- | :---: | :---: | | | Base Operation | | | Inverse | $\bf\mathcal{X}^{-1}$ | `X.inverse()` | | Composition | $\bf\mathcal{X}\circ\bf\mathcal{Y}$ | `X * Y`<br/>`X.compose(Y)` | | Hat | $\boldsymbol\varphi^\wedge$ | `w.hat()` | | Act on vector | $\bf\mathcal{X}\circ{\bf v}$ | `X.act(v)` | | Retract to group element | $\exp(\boldsymbol\varphi^\wedge)$ | `w.exp()` | | Lift to tangent space | $\log(\bf\mathcal{X})^\vee$ | `X.log()` | | Manifold Adjoint | $\mathrm{Adj}(\bf\mathcal{X})$ | `X.adj()` | | Tangent adjoint | $\mathrm{adj}(\boldsymbol\varphi^\wedge)$ | `w.smallAdj()` | | | Composed Operation | | | Manifold right plus | ${\bf\mathcal{X}}\circ\exp(\boldsymbol\varphi^\wedge)$ | `X + w`<br/>`X.plus(w)`<br/>`X.rplus(w)` | | Manifold left plus | $\exp(\boldsymbol\varphi^\wedge)\circ\bf\mathcal{X}$ | `w + X`<br/>`w.
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Giulio Romualdi · @gbionics · Italy
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Silvio Traversaro · Generative Bionics @gbionics
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Daniel S. Katz · UIUC
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:7ec962144cc22233, topic:robotics, topic:slam, readme:robotics
matched fp:7ec962144cc22233, topic:computer-vision