Contents

• List of Figures
• List of Tables
• Introduction
  • Capabilities of the Lie Tools Package
  • Target Audience for the Lie Tools Package
  • System Requirements
  • Background Information and Reference Material
  
  
• Compiling, Installing and Loading the Lie Tools Package
  • Compiling LTP
  • Installing LTP
  • Loading LTP
  
  
• Basic Notions and LTP Formalism
• Practical Applications of Lie Algebras and Groups
  • Trajectory planning and control
  • Nonlinear filtering
  
  
• Using LTP: Some Practical Examples
  • Example 1: Simplification of Lie algebraic expressions
  • Example 1: Stabilization of a rigid body in space
  • Example 2: Finite dimensional realization of a nonlinear filter
  
  
• Function Reference
  • createLBobjects
  • phb
  • phbize
  • simpLB
  • regroupLB
  • reduceLB
  • cbhexp
  • evalLB2expr
  • calcLB
  • selectLB
  • createSubsRel
  • codeCBHcf
  • reduceLBT
  • ad
  • ead, eadr
  • pead, peadr
  • wne, wner
  • wnde
  
  
• Topics for Further Improvement
  • Generation of a -th order CBH formula (cbhexpr)
  • Functions for setting-up and solving logarithmic equations automatically
  • Automatic controller design/synthesis functions
  
  
• Implementation Notes
• Bibliography
• About this document ...