├── .clang-format ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── semantic.yml └── workflows │ ├── format.yml │ ├── main.yml │ ├── pybind.yml │ └── sympy.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── SOPHUS_VERSION ├── Sophus.code-workspace ├── SophusConfig.cmake.in ├── examples ├── CMakeLists.txt ├── custom_ensure_handler.cpp ├── ensure_example.cpp └── hello_so3.cpp ├── generate_stubs.py ├── scripts ├── install_osx_deps_incl_ceres.sh ├── install_ubuntu_deps_incl_ceres.sh ├── run_cpp_tests_clang.sh └── run_cpp_tests_gcc.sh ├── setup.py ├── sophus ├── average.hpp ├── cartesian.hpp ├── ceres_manifold.hpp ├── ceres_typetraits.hpp ├── common.hpp ├── geometry.hpp ├── interpolate.hpp ├── interpolate_details.hpp ├── num_diff.hpp ├── rotation_matrix.hpp ├── rxso2.hpp ├── rxso3.hpp ├── se2.hpp ├── se3.hpp ├── sim2.hpp ├── sim3.hpp ├── sim_details.hpp ├── so2.hpp ├── so3.hpp ├── spline.hpp ├── test_macros.hpp └── types.hpp ├── sophus_pybind-stubs ├── py.typed └── sophus_pybind.pyi ├── sophus_pybind ├── README ├── SE3PyBind.h ├── SO3PyBind.h ├── SophusPyBind.h ├── bindings.cpp ├── examples │ └── sophus_quickstart_tutorial.ipynb └── tests │ └── sophusPybindTests.py ├── sympy ├── cpp_gencode │ ├── Se2_Dx_exp_x.cpp │ ├── Se2_Dx_log_this.cpp │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ ├── Se3_Dx_exp_x.cpp │ ├── Se3_Dx_log_this.cpp │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ ├── So2_Dx_exp_x.cpp │ ├── So2_Dx_log_exp_x_times_this_at_0.cpp │ ├── So2_Dx_log_this.cpp │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ ├── So3_Dx_exp_x.cpp │ ├── So3_Dx_log_exp_x_times_this_at_0.cpp │ ├── So3_Dx_log_this.cpp │ └── So3_Dx_this_mul_exp_x_at_0.cpp ├── run_tests.sh └── sophus │ ├── __init__.py │ ├── complex.py │ ├── cse_codegen.py │ ├── dual_quaternion.py │ ├── matrix.py │ ├── quaternion.py │ ├── se2.py │ ├── se3.py │ ├── so2.py │ └── so3.py └── test ├── CMakeLists.txt ├── ceres ├── CMakeLists.txt ├── test_ceres_rxso2.cpp ├── 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