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manif is a header-only C++11 Lie theory library for state-estimation targeted at robotics applications. It has been designed for an easy integration to larger projects: A single dependency on Eigen, header-only for easy integration, templated on the underlying scalar type so that one can use its own, and C++11, since not everyone gets to enjoy the latest C++ features, especially in industry. The library provides simple interfaces to the most common operations on Lie groups in state estimation together with an analytic computation of Jacobians for all the operations.
Deray et al. (Fri,) studied this question.