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