Metadata-Version: 2.1
Name: asrl-pylgmath
Version: 1.0.2
Summary: Python implementation of lgmath
Home-page: https://github.com/utiasASRL/pylgmath
Author: Yuchen Wu
Author-email: cheney.wu@mail.utoronto.ca
License: BSD
Description: # pylgmath
        
        pylgmath is a Python library for handling geometry in state estimation problems in robotics.
        It is used to store, manipulate, and apply three-dimensional rotations and transformations and their associated uncertainties.
        
        There are no minimal, constraint-free, singularity-free representations for these quantities, so lgmath exploits two different representations for the nominal and noisy parts of the uncertain random variable.
        
        - Nominal rotations and transformations are represented using their composable, singularity-free _matrix Lie groups_, _SO(3)_ and _SE(3)_.
        - Their uncertainties are represented as multiplicative perturbations on the minimal, constraint-free vectorspaces of their _Lie algebras_, **\*so\*\***(3)\* and **\*se\*\***(3)\*.
        
        This library uses concepts and mathematics described in Timothy D. Barfoot's book [State Estimation for Robotics](asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf).
        It is used for robotics research at the Autonomous Space Robotics Lab; most notably in the STEAM Engine, a library for Simultaneous Trajectory Estimation and Mapping.
        
        ## Installation
        
        ```bash
        ## PyPI
        pip install asrl-pylgmath
        
        ## Source
        git clone https://github.com/utiasASRL/pylgmath.git
        pip install -e pylgmath  # may need to replace `pip` with `pip3` if not using a virtual environment.
        ```
        
        ## [License](./LICENSE)
        
Platform: UNKNOWN
Requires-Python: >=3.8
Description-Content-Type: text/markdown
