Various C++ functions for computing interesting derivatives/jacobians of SO(3). Wrote these while doing the derivations on paper for my own fun and understanding. They are unit tested thoroughly, and may prove useful to others as a reference. I should note that I have only done minimal profiling as a curiosity in a couple of places. While I tend to avoid any egregious inefficiency, there are still possible optimizations.
- Depends on Eigen for vector/matrix functionality.
- Depends on gtest for running tests.
The functions are header-only, so only tests need building:
mkdir build
cd build
cmake ..
make
ctest