lie

Parser handlers for Lie algebra operations.

AdjointDual, Adjoint, SE3Adjoint, SE3AdjointDual,

SO3Exp, SO3Log, SE3Exp, SE3Log

Each handler is registered under its function name via @function and turns the call-syntax form (e.g. SE3Exp(twist)) that the Pratt parser encounters in an expression string into the corresponding SO(3)/SE(3) Expr node — the group exp/log maps and the (co)adjoint operators used in rigid-body dynamics.