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+Sophus (version 0.9a)
+
+C++ implementation of Lie Groups using Eigen.
+
+Thanks to Steven Lovegrove, Sophus is now fully templated  - using the Curiously Recurring Template Pattern (CRTP).
+
+(In order to go back to the non-templated/double-only version "git checkout a621ff".)
+
+Installation guide:
+
+>>>
+cd Sophus
+mkdir build
+cd build
+cmake ..
+make
+<<<
+
+