From 58d5de601282ee150e49834c0dd0198508211173 Mon Sep 17 00:00:00 2001 From: Pieter van Goor Date: Tue, 15 Oct 2024 13:58:06 +0200 Subject: [PATCH] AP_Math: Add references on Lie groups --- libraries/AP_Math/LieGroups.h | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/libraries/AP_Math/LieGroups.h b/libraries/AP_Math/LieGroups.h index 44ec4e12b322c1..090fec190f1465 100644 --- a/libraries/AP_Math/LieGroups.h +++ b/libraries/AP_Math/LieGroups.h @@ -1,3 +1,33 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +// Developed by Mr Patrick Wiltshire and Dr Pieter Van Goor +// +// Implementation of useful matrix Lie groups for inertial state estimation. +// +// Matrix Lie groups are sets of matrices that are closed under matrix multiplication and inversion. +// For a comprehensive overview of the theory of Lie groups, please see +// [Hall, Brian C., "Lie groups, Lie algebras, and representations." Springer New York, 2013]. +// For some examples of applications of Lie groups in robotics, please see +// [Sola, Joan, et al. "A micro Lie theory for state estimation in robotics." arXiv preprint arXiv:1812.01537 (2018).] +// +// The Lie groups implemented here include: +// GL(2): The set of 2x2 invertible matrices +// Gal(3): The symmetry of Galilean spacetime +// SIM_2(3): The automorphism group of SE_2(3), see: [van Goor, Pieter, et al. "Constructive Equivariant Observer Design for Inertial Navigation." IFAC-PapersOnLine 56.2 (2023): 2494-2499]. + #pragma once #include "AP_Math.h"