In the course, you will flesh out the class definition files for two important Lie group descriptions related to robotic systems, $SE(2)$ and $SE(3)$. The default implementation is homogeneous matrix form. You are free to use other compatible representations so long as the specifics are kept internal to the class.

The code stub for

• $SE(2)$ is located here: here , and that for
• $SE(3)$ is located here: here.

In both cases, downloading the file may lead to one with all lowercase letters. You should change the filenames to use uppercase letters. Generally, this dokuwiki converts all files to lowercase. There will usually be some kind of hint or text indicating what the original filename should have been called.

ECE4560 – Main