This   software   provides   several   uniform  sequences   over   the
three-dimensional rotation group,  SO(3). These sequences are: layered
Sukharev  grid sequence,  Sukharev  grid sequence  and random  uniform
sequence. Resulting sequences are  parameterized using the set of unit
quaternions. The code is written using C++.

The method is described in:

Deterministic sampling methods for spheres and SO(3)
Anna Yershova and Steven M. LaValle, 
2004 IEEE International Conference on Robotics and Automation (ICRA 2004) 

