lie-groups

There are 5 repositories under lie-groups topic.

artivis / manif
A small C++11 header-only library for Lie theory.
lie-groups lie-theory cpp11 header-only robotics state-estimation slam computer-vision geometry 2d 3d c-plus-plus python3
Language:C++ 1400
geomstats / geomstats
Computations and statistics on manifolds with geometric structures.
statistics geometry manifold machine-learning deep-learning gpu-programming lie-groups neural-networks geodesic riemannian-geometry
Language:Jupyter Notebook 1148
Grassmann.jl
chakravala / Grassmann.jl
⟨Grassmann-Clifford-Hodge⟩ multilinear differential geometric algebra
algebra automatic-differentiation clifford-algebras complex-numbers computational-geometry computer-algebra differential-geometry discrete-exterior-calculus geometric-algebra lie-groups linear-algebra manifolds math quantum-computing quaternion simplicial-complexes tensor tensor-algebra topology
Language:Julia 449
artivis / kalmanif
A small collection of Kalman Filters on Lie groups
kalman-filter lie-groups lie-algebra extended-kalman-filters invariant-extended-kalman-filter unscented-kalman-filter filtering state-estimation robotics manif header-only cpp17 rauch-tung-striebel kalman-smoother
Language:C++ 309
robotgradient / grasp_diffusion
Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home
deep-learning diffusion diffusion-models grasping lie-groups robotics
Language:Jupyter Notebook 203
brentyi / jaxlie
Rigid transforms + Lie groups in JAX
computer-vision geometry jax lie-groups robotics
Language:Python 198
e3nn / e3nn-jax
jax library for E3 Equivariant Neural Networks
deep-learning jax lie-groups
Language:Python 156
decargroup / navlie
A state estimation package for Lie groups!
kalman-filter lie-groups navigation python robotics state-estimation
Language:Python 140
pettni / smooth
Lie theory for robotics
cpp robotics lie-groups lie-algebra eigen header-only cpp20
Language:C++ 124
idsc-frazzoli / owl
motion planning algorithms with demos for various state-spaces
visualization real-time motion-planning rrt-star glc geodesic-averages lie-groups subdivision curve-subdivision se2 autonomous-vehicles
Language:Java 102
lixilinx / psgd_torch
Pytorch implementation of preconditioned stochastic gradient descent (affine group preconditioner, low-rank approximation preconditioner and more)
affine-group deep-learning hessian-vector-product lie-groups low-rank-approximation optimization-algorithms preconditioner pytorch second-order-optimization stochastic-gradient-descent
Language:Python 92
arntanguy / PySophus
Python bindings for Sophus Lie Algebra C++ Library
lie-group lie-groups python-wrapper sophus
Language:Python 68
ami-iit / lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
lie-groups eigen-library header-only cpp
Language:CMake 58
pettni / smooth_feedback
Control and estimation on Lie groups
cpp20 lie-groups control estimation feedback eigen robotics header-only
Language:C++ 53
ami-iit / liecasadi
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
lie-groups lie-algebra casadi optimization robotics dual-quaternions python
Language:Python 45
plusk01 / se3quad
Geometric Controller of a Quadrotor on SE(3)
control-systems lie-groups matlab quadrotor robotics
Language:MATLAB 41
imbirik / LieStationaryKernels
Supplementary code for the paper "Stationary Kernels and Gaussian Processes on Lie Groups and their Homogeneous Spaces"
gaussian-processes kernels lie-groups manifolds sampling symmetric-spaces homogeneous-spaces
Language:Python 37
bostoncleek / ROS-Turtlebot-Navigation
Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.
slam-implementations ekf-slam planner turtlebot gazebo-plugin fast-slam particle-filter motion-planning dstar-lite prm-planner potential-fields model-predictive-control optimal-control motion-model kinematic-modeling lie-groups
Language:C++ 35
lixilinx / psgd_tf
Tensorflow implementation of preconditioned stochastic gradient descent
deep-learning hessian-vector-product lie-groups optimization-algorithms preconditioner second-order-optimization stochastic-gradient-descent tensorflow affine-group low-rank-approximation
Language:Python 34
moribots / turtlebot3_from_scratch
Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch
cpp ekf-slam gazebo lie-groups localization mapping ros slam
Language:C++ 26
aalbaali / cpp_filter
Kalman filter using C++ and Manif
kalman-filter invariant-extended-kalman-filter state-estimation lie-groups
Language:C++ 25
byu-magicc / lie_groups
Implementation-focused introduction to Lie groups for roboticists
robotics lie-groups
Language:Jupyter Notebook 21
decargroup / pymlg
Pure static Lie groups in Numpy, Jax, and C++
jax lie-groups numpy python state-estimation
Language:Python 19
dehann / TransformUtils.jl
Lie groups and algebra with some quaternions
lie-groups quaternion euler lie-algebra rotations-operations logmap expmap so3 rigid-transformations 2d 3d se2 se3
Language:Julia 19
FormTracer / FormTracer
A Mathematica Tracing Package Using FORM
mathematica trace efficiency spinor lorentz arxiv lie-groups lie-group high-energy-physics
Language:Objective-C 19
ami-iit / paper_ramadoss_2021_icra_proprioceptive-base-estimator
[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914
ekf lie-groups humanoids
Language:MATLAB 16
DrPardosGotor / Screw-Theory-Toolbox-for-Robotics-ST24R
Screw Theory Toolbox for Robotics - “ST24R" - v3.10
robotics lie-groups screwtheory kinematics
Language:MATLAB 14
YaelBenShalom / Turtlebot3-SLAM-from-scratch
Implementation of feature-based EKF SLAM with unsupervised learning in C++ from scratch
autonomous-robots cpp ekf-slam kinematic-modeling lidar lie-groups localization mapping navigation path-planning planning robotics ros slam turtlebot3
Language:C++ 13
robotgradient / LieFlows
Pytorch implementation of Stable Vector Fields on Lie Groups through Diffeomorphism
dynamic-systems lie-groups motion-generation robotics stability vector-fields control-systems
Language:Python 11
tub-rip / SER_Lie_poses
Some functions to work with Lie groups SO(3) and SE(3). State Estimation for Robotics
lie-groups poses rotations state-estimation robotics geometry multi-view-geometry computer-vision
Language:MATLAB 9
GiulioRomualdi / lie-group-controllers
Header-only C++ libraries containing controllers designed for Lie Groups.
control eigen lie-groups robotics
Language:CMake 8
milosen / riemann-nn
Understanding the paper "Principles of Riemannian Geometry in Neural Networks" by Michael Hauser and Asok Ray
lie-groups neural-networks residual-networks
Language:Jupyter Notebook 8
AbanobSoliman / B-splines
In this repo you can find implementation for Cubic and Quadratic B-splines trajectory generation given poses in R(3) along with B-spline trajectory T(t) generation, of any degree (n) given increments of poses in R(3) and also SO(3) and SE(3) Lie groups.
b-splines b-spline trajectory-generation lie-groups lie-algebra
Language:MATLAB 6
kercl / sun
A toolkit that aims to provide several features with regards to special unitary groups, including the generation of matrix representations, decomposition of tensor products and more.
lie-algebra lie-groups gelfand-tsetlin-patterns special-unitary-group unitary-group irreducible-representations mathematica matrix-representations irrep
Language:C 6
chakravala / Grassmann.wl
⟨Leibniz-Grassmann-Clifford⟩ multilinear differential geometric algebra
geometric-algebra wolfram wolfram-language topology algebra computer-algebra linear-algebra automatic-differentiation quantum-computing sparse quaternion complex-numbers computational-geometry differential-geometry tensor lie-groups tensor-algebra clifford-algebras mathematica differentiable-programming
Language:Mathematica 5
RustyBamboo / lie
A numerical library for working with Lie Groups and Algebras.
computational-geometry computational-physics lie-groups python rust
Language:Rust 5