strasdat/Sophus — pull request #8 by pinglin (2014-04-10 03:47:44+00:00)
Title: Added RxSO(2) and Sim(2) 

Hello Hauke,

I have tried to integrate the RxSO(2) and Sim(2) groups.
The math should be correct since the codes can pass the unit tests you designed.
But you may want a double-check first. :)

Cheers,
Pinglin