Getting started in C++¶

manif has been designed for an easy integration to larger projects,

a single dependency on Eigen
header-only
templated on the underlying scalar type so that one can use its own
and C++11, since not everyone gets to enjoy the latest version, especially in industry

Installation¶

Prior to installing manif, we have to install its main dependency Eigen3:

Ubuntu

apt-get install libeigen3-dev

OS X

brew install eigen

manif also depends on lt::optional however it is included in the external/ folder of the project.

Next, clone the repository locally if you haven’t done so already:

git clone https://github.com/artivis/manif.git
cd manif

To buid and install manif, use the following commands:

mkdir build && cd build
cmake ..
make install

Use manif in a project¶

To use manif in a project, edit the CMakeLists.txt and add the following directives to first find Eigen3:

# Find the Eigen library
find_package(Eigen3 REQUIRED)

# Add eigen3 include directories to the target
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})

Next, add the following directives to find manif and add its include directories to the compliation target:

# Find the manif library
find_package(manif REQUIRED)

# Add manif include directories to the target
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${manif_INCLUDE_DIRS})

Now that the project is able to find manif and its headers, it can be included in the code, for instance:

#include <manif/manif.h>

...

auto state = manif::SE3d::Identity();

...

From there, have a look at the howtos for further informations as well as the examples to find several self-contained and self-explained executables implementing some real problems.