symforce VS spacetimeengine

You might find this library interesting: https://github.com/symforce-org/symforce

Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.

It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.

I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM

Continue reading | Checkout the paper and github

A decade ago when I was interested in General Relativity I wanted to write a simple program to handle symbolic calculations for Einstein field equations (Starting with metric and calculated affine connections, ricci tensor …etc.). Sympy was an option (better because python was the only language I know well) but I found it hard and actually couldn't make it work. I used mathematica which was new for me but did it in a couple of hours. I expanded it later and used it to calculate a lot of things in a black hole paper I published later.

I checked now, and it seems that on this front a lot of development in sympy made it possible that we know how very good libraries built on top of it [1] [2]. There is even now a Jupyter notebook example on schwarzschild metric [3].

[1] https://docs.einsteinpy.org

[2]https://github.com/spacetimeengineer/spacetimeengine

[3] https://github.com/sympy/sympy/blob/master/examples/intermed...