Expose Lie Groups checks at root level (#335)

* Exposing lie checks context at top level.

* Fix capitalization in base init.

Author: luisenp

theseus/__init__.py

@@ -6,7 +6,6 @@
 
 
 from .core import (  # usort: skip
-    as_variable,
     AutoDiffCostFunction,
     AutogradMode,
     CostFunction,
@@ -20,22 +19,30 @@
     Variable,
     Vectorize,
     WelschLoss,
+    as_variable,
 )
 from .geometry import (  # usort: skip
+    LieGroup,
+    LieGroupTensor,
+    Manifold,
+    Point2,
+    Point3,
+    SE2,
+    SE3,
+    SO2,
+    SO3,
+    Vector,
     adjoint,
     between,
     compose,
+    enable_lie_group_check,
     enable_lie_tangent,
     exp_map,
     inverse,
-    LieGroup,
-    LieGroupTensor,
     local,
     log_map,
-    Manifold,
+    no_lie_group_check,
     no_lie_tangent,
-    Point2,
-    Point3,
     rand_point2,
     rand_point3,
     rand_se2,
@@ -51,22 +58,18 @@
     randn_so3,
     randn_vector,
     retract,
-    SE2,
-    SE3,
+    set_lie_group_check_enabled,
     set_lie_tangent_enabled,
-    SO2,
-    SO3,
-    Vector,
 )
 from .optimizer import (  # usort: skip
     DenseLinearization,
-    local_gaussian,
     Linearization,
     ManifoldGaussian,
     OptimizerInfo,
-    retract_gaussian,
     SparseLinearization,
     VariableOrdering,
+    local_gaussian,
+    retract_gaussian,
 )
 from .optimizer.linear import (  # usort: skip
     BaspachoSparseSolver,

theseus/geometry/__init__.py

@@ -4,6 +4,11 @@
 # LICENSE file in the root directory of this source tree.
 
 from .lie_group import LieGroup, adjoint, between, compose, exp_map, inverse, log_map
+from .lie_group_check import (
+    enable_lie_group_check,
+    no_lie_group_check,
+    set_lie_group_check_enabled,
+)
 from .manifold import Manifold, OptionalJacobians, local, retract
 from .point_types import (
     Point2,