Porting SpecialGalileanGroup from IMUDeltaFactor.jl to LieGroups.jl

[domo-mr-roboto]

Hi @Affie and all,

I'm interested in porting the SpecialGalileanGroup to LieGroups.jl - see related discussion here. @kellertuer mentioned that this process might already have been started?

Thanks!

[kellertuer]

Thanks for following up, when we started LieGroups.jl, I opened JuliaManifolds/LieGroups.jl#11 to keep track of this and there is a bit of a discussion there already.

[Affie]

Hello @domo-mr-roboto, Thank for the interest. Yes, I already started looking at porting SGal to LieGroups.jl in between other work. If you are interested you are welcome to give it a go. Let's keep the discussion only in JuliaManifolds/LieGroups.jl#11

[domo-mr-roboto]

Thanks @Affie! Would I start with the code that's already available in RoME.jl? (Not sure if I'll be able to get to it right away but will try).

[Affie]

@domo-mr-roboto, it seems to be a bit tricky to do the update from a Manifolds.jl like implementation to a LieGroups.jl implementation. Let me work together with the guys at LieGroups.jl to get us started.

I don't know if you are interested in the Jacobians as well, in RoME we don't have the close form Jacobian yet, but it looks like it's given in https://arxiv.org/pdf/2312.07555 section 8. If you are also interested in the Jacobian, that might be a good place to start.

[domo-mr-roboto]

Gotcha @Affie - I have an existing Julia implementation of the Galilean group and SE(3), etc. (from the technical report you mentioned), including the Jacobians, so will wait for the update on LieGroups.jl.