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Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch

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liegroups

Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy.

Install from github

pip install git+https://github.com/neutrinoyu/liegroups.git

Installation (local)

To install, cd into the repository directory (the one with setup.py) and run:

pip install .

or

pip install -e .

The -e flag tells pip to install the package in-place, which lets you make changes to the code without having to reinstall every time. Do not do this on shared workstations!

Testing

Ensure you have pytest installed on your system, or install it using conda install pytest or pip install pytest. Then run pytest in the repository directory.

Usage

Access the numpy implementation using something like

from liegroups import SE3

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Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch

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