Install manif

manif is a C++ header-only library for Lie group operations on manifolds (SO2, SO3, SE2, SE3, etc.), designed for state estimation and robotics applications.

Dependencies

sudo apt install cmake libeigen3-dev

Build and Install

git clone https://github.com/artivis/manif.git
cd manif
mkdir build
cd build
cmake ..
cmake --build . -j$(nproc)
sudo cmake --install .