Open-Source Software

Open Source Software Library

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Fourier Transform on SO(3)

This open-source C++ software package provides various tools for harmonic analysis on the special orthogonal group and it is available at

  • What does it do ?
    • Complex/Real Noncommutative Harmonic Analysis on SO(3)
    • Complex/Real Spherical Harmonics on the Unit-Sphere
    • Fast Fourier Transform on SO(3)
    • Compute Wigner D-matrix
    • Compute Clebsch-Gordon coefficients
    • Parallel computing with OpenMP

Matrix Fisher Distribution on SO(3)

Matrix Fisher-Gaussian Distribution on SO(3)xR^n

Python-Gazebo Simulation for Geometric Control of UAV