| # liegroups | |
| Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or PyTorch. | |
| [[Documentation]](docs/build/html/index.html) | |
| ## Installation | |
| To install, `cd` into the repository directory (the one with `setup.py`) and run: | |
| ```bash | |
| pip install . | |
| ``` | |
| or | |
| ```bash | |
| 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!* | |
| ## Testing | |
| 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. | |
| ## Usage | |
| 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 | |
| ```python | |
| from liegroups import SE3 | |
| ``` | |
| or | |
| ```python | |
| from liegroups.numpy import SO2 | |
| ``` | |
| Access the pytorch implementation using something like | |
| ```python | |
| from liegroups.torch import SE2 | |
| ``` |