symforce-org/symforce
Fast symbolic computation, code generation, and nonlinear optimization for robotics
Combines Python-based symbolic math (extending SymPy with Lie group types and singularity handling) with automatic tangent-space Jacobian computation and code generation to C++17/Eigen, eliminating handwritten derivatives. Includes a factor-graph optimization library designed for real-time constraints, with strategies for sparsity exploitation that yield significant speedups over generic autodiff approaches.
1,590 stars and 16,654 monthly downloads. Actively maintained with 13 commits in the last 30 days. Available on PyPI.
Stars
1,590
Forks
166
Language
C++
License
Apache-2.0
Category
Last pushed
Mar 28, 2026
Monthly downloads
16,654
Commits (30d)
13
Dependencies
10
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