sophus ☆
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Description:
C++ implementation of Lie Groups using Eigen
Type: Formula  |  Latest Version: 1.24.6@0  |  Tracked Since: Nov 2, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: c++ eigen robotics computer-vision mathematics lie-groups
Install: brew install sophus
About:
Sophus is a lightweight C++ library for Lie theory, providing implementations of SO(3) and SE(3) groups for 3D rotations and transformations. It offers a clean, Eigen-compatible interface for robotics and computer vision applications requiring robust geometric computations.
Key Features:
  • Eigen-based linear algebra integration
  • SO(3) and SE(3) Lie group implementations
  • Modern C++11/14/17 interface
  • Header-only library for easy integration
  • Comprehensive test coverage
Use Cases:
  • 3D robotics kinematics and motion planning
  • Computer vision and SLAM algorithms
  • Aerospace trajectory computation
  • 3D graphics and simulation
Alternatives:
  • Eigen – Provides core linear algebra but lacks specialized Lie group types
  • Boost.Units – Focuses on dimensional analysis rather than geometric transformations
Version History
Detected Version Rev Change Commit
Nov 2, 2025 6:42am 1 VERSION_BUMP b1a941a8
Mar 10, 2023 6:41am 0 VERSION_BUMP e9960da0
Mar 10, 2023 6:41am 0 VERSION_BUMP cb66831a
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