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

Note that this package is no longer actively mantained and has been superseded by [PyMLG].

[Documentation]

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!

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.

Numpy and torch implementations are accessible through the liegroups.numpy and liegroups.torch subpackages. By default, the numpy implementation is available through the top-level package.

Access the numpy implementation using something like

from liegroups import SE3

or

from liegroups.numpy import SO2

Access the pytorch implementation using something like

from liegroups.torch import SE2