Tangent Documentation¶
Header-only generic optimizer for manifold-based nonlinear least squares with built in marginalization support
Features¶
SE3/SO3 manifold optimization with Lie algebra
Python support through JIT compilation
Built-in marginalization support through Sparse Gaussian Prior
Sparse Schur Solver for exploiting sparsity in uncorrelated variables
Compile-time type safety with template metaprogramming
Optional parallel algorithms for multi-threaded optimization
Table of Contents¶
Getting Started
C++ API Reference
Python API Reference