Add in citation style & references

assets/references.bib

@@ -0,0 +1,11 @@
+@article{solaMicroLieTheory2021,
+  title         = {A Micro {{Lie}} Theory for State Estimation in Robotics},
+  author        = {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan, Dinesh},
+  year          = {2021},
+  month         = dec,
+  journal       = {arXiv:1812.01537},
+  eprint        = {1812.01537},
+  primaryclass  = {cs},
+  urldate       = {2022-05-11},
+  archiveprefix = {arXiv}
+}

src/variables/mod.rs

@@ -2,8 +2,9 @@
 //!
 //! This module contains the definition of the variables that can be optimized
 //! using the optimization algorithms. We model each variable as a Lie group
-//! $\mathcal{G}$, even if it is trivially so. Because of this, each type $X \in
-//! \mathcal{G}$ must satisfy the following properties,
+//! $\mathcal{G}$ [^@solaMicroLieTheory2021], even if it is trivially so.
+//! Because of this, each type $X \in \mathcal{G}$ must satisfy the following
+//! properties,
 //!
 //! Identity
 //! $$
@@ -30,8 +31,7 @@
 //! X \in \mathcal{G} \implies \log(X) \in \mathfrak{g}
 //! $$
 //! Finally, for optimization purposes, we adopt $\oplus$ and $\ominus$
-//! operators as defined in "Micro Lie Theory" by Joan Solà. By default this
-//! results in,
+//! operators [^@solaMicroLieTheory2021],
 //!
 //! $$
 //! x \oplus \xi = x \cdot \exp(\xi) \\\\
@@ -51,6 +51,8 @@
 //! [Variable] and call the [tag_variable](crate::tag_variable) macro if using
 //! serde. We also recommend using the [test_variable](crate::test_variable)
 //! macro to ensure these properties are satisfied.
+//!
+//! [^@solaMicroLieTheory2021]: Solà, Joan, et al. “A Micro Lie Theory for State Estimation in Robotics.” Arxiv:1812.01537, Dec. 2021
 mod traits;
 pub use traits::{MatrixLieGroup, Variable, VariableSafe, VariableUmbrella};
 

src/variables/traits.rs

@@ -56,14 +56,16 @@ pub trait Variable<D: Numeric = dtype>: Clone + Sized + Display + Debug {
 
     /// Adds value from the tangent space to the group element
     ///
-    /// By default this uses the "right" version as found in Micro Lie Theory
+    /// By default this uses the "right" version [^@solaMicroLieTheory2021]
     /// $$
     /// x \oplus \xi = x \cdot \exp(\xi)
     /// $$
     /// If the "left" feature is enabled, instead this turns to
     /// $$
     /// x \oplus \xi = \exp(\xi) \cdot x
     /// $$
+    ///
+    /// [^@solaMicroLieTheory2021]: Solà, Joan, et al. “A Micro Lie Theory for State Estimation in Robotics.” Arxiv:1812.01537, Dec. 2021
     fn oplus(&self, xi: VectorViewX<D>) -> Self {
         if cfg!(feature = "left") {
             Self::exp(xi).compose(self)
@@ -74,14 +76,16 @@ pub trait Variable<D: Numeric = dtype>: Clone + Sized + Display + Debug {
 
     /// Compares two group elements in the tangent space
     ///
-    /// By default this uses the "right" version as found in Micro Lie Theory
+    /// By default this uses the "right" version [^@solaMicroLieTheory2021]
     /// $$
     /// x \ominus y = \log(y^{-1} \cdot x)
     /// $$
     /// If the "left" feature is enabled, instead this turns to
     /// $$
     /// x \ominus y = \log(x \cdot y^{-1})
     /// $$
+    ///
+    /// [^@solaMicroLieTheory2021]: Solà, Joan, et al. “A Micro Lie Theory for State Estimation in Robotics.” Arxiv:1812.01537, Dec. 2021
     fn ominus(&self, y: &Self) -> VectorX<D> {
         if cfg!(feature = "left") {
             self.compose(&y.inverse()).log()