manif
- Software
- Navigation and mapping
- Library
manif is a header-only C++11 library, with Python 3 wrappers, for Lie group computations in state estimation for robotics. It supplies Lie groups and their analytic Jacobians.
Source on GitHub: github.com/artivis/manif (opens in a new tab). Facts read at commit 65166b3 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 65166b3 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides groups including R(n), SO(2), SE(2), SO(3), SE(3), SE_2(3), SGal(3), and Bundle composite manifolds.
- Offers operations such as inverse, composition, exp, log, adjoint, plus/minus, between, and norms.
- Computes analytic Jacobians for all listed operations, differentiated with respect to local tangent perturbations.
- Uses Cartesian tangent-space representations with a documented element ordering for each group.
- Compatible with the autodiff libraries ceres::Jet, autodiff::Dual and autodiff::Real.
- Recommends reading the accompanying Lie theory paper before using the library.
Written by Robotheca from the project's README (opens in a new tab) at commit 65166b3.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 1 Nov 2025 on devel
- Latest release
- Release 0.0.5 (11 Aug 2024)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.