manif: A micro Lie theory library for state estimation in robotics applications

Abstract

<strong>manif</strong> is a header-only C++11 Lie theory library for state-estimation targeted at robotics applications. It has been designed for an easy integration to larger projects: A single dependency on Eigen, header-only for easy integration, templated on the underlying scalar type so that one can use its own, and C++11, since not everyone gets to enjoy the latest C++ features, especially in industry. The library provides simple interfaces to the most common operations on Lie groups in state estimation together with an analytic computation of Jacobians for all the operations.