Sophus

C++ implementation of Lie Groups using Eigen.

Packaging

This is a maintained version of the original code developed by Hauke Strasdat.

The current release branch is indigo. Ros packages are available for indigo, jade & kinetic (built as a 3rdparty package).

Installation - CMake

$ cd Sophus
$ mkdir build
$ cd build
$ cmake ..
$ make

Installation - ROS 3rd Party Package

Install in a catkin workspace dedicated to 3rd party packages (usually you'll install this package on its own):

$ mkdir -p ~/3rd_party_workspace/src
$ cd ~/3rd_party_workspace/src
$ wstool init .
$ wstool set sophus --git https://github.com/stonier/sophus.git --version=indigo
$ wstool update sophus
$ cd ~/3rd_party_workspace
$ catkin_make_isolated -DCMAKE_INSTALL_PREFIX=install_isolated --install
$ source ~/3rd_party_workspace/install_isolated/setup.bash

Errata

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".)