jaxlie documentation

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jaxlie is a Lie theory library for rigid body transformations and optimization in JAX.

Current functionality:

  • SO(2), SE(2), SO(3), and SE(3) Lie groups implemented as high-level dataclasses.

  • exp(), log(), adjoint(), multiply(), inverse(), and identity() implementations for each Lie group.

  • Pytree registration for all dataclasses.

  • Helpers + analytical Jacobians for on-manifold optimization (jaxlie.manifold).

Source code on Github.

Example usage