Mobile Robot Programming Toolkit - poses development package

 The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,
 and open source C++ library aimed to help robotics researchers to design and
 implement algorithms in the fields of Simultaneous Localization and Mapping
 (SLAM), computer vision, and motion planning (obstacle avoidance).
 .
 C++ classes to work with 2D and 3D poses (SE(2), SE(3)), including
 probabilistic distributions over them and Lie group utilities.
 This package provides headers and libraries for development.