lie-groups

A small C++11 header-only library for Lie theory.

Computations and statistics on manifolds with geometric structures.

⟨Leibniz-Grassmann-Clifford⟩ differential geometric algebra / multivector simplicial complex

A small collection of Kalman Filters on Lie groups

Rigid transforms + Lie groups, in JAX!

motion planning algorithms with demos for various state-spaces

Pytorch implementation of preconditioned stochastic gradient descent

Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home

Python bindings for Sophus Lie Algebra C++ Library

Lie theory for robotics

Header-only C++ library containing controllers designed for Lie Groups.

Tensorflow implementation of preconditioned stochastic gradient descent

Geometric Controller of a Quadrotor on SE(3)

Supplementary code for the paper "Stationary Kernels and Gaussian Processes on Lie Groups and their Homogeneous Spaces"

Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch

Kalman filter using C++ and Manif

A Mathematica Tracing Package Using FORM

Lie groups and algebra with some quaternions

Implementation-focused introduction to Lie groups for roboticists

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.