linux, os x: windows:

Sophus

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