All Projects → Le0nX → Modernroboticscpp

Le0nX / Modernroboticscpp

Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness. http://modernrobotics.org/

Programming Languages

cpp
1120 projects
cpp11
221 projects

Projects that are alternatives of or similar to Modernroboticscpp

ign-math
General purpose math library for robot applications.
Stars: ✭ 35 (-79.41%)
Mutual labels:  math, robotics, eigen
Ifopt
An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
Stars: ✭ 372 (+118.82%)
Mutual labels:  robotics, eigen
Poisson blend
Seamless copy-and-paste of images with Poisson Blending.
Stars: ✭ 277 (+62.94%)
Mutual labels:  math, eigen
Hole fixer
Demo implementation of smoothly filling holes in 3D meshes using surface fairing
Stars: ✭ 165 (-2.94%)
Mutual labels:  math, eigen
RustRobotics
Rust implementation of PythonRobotics such as EKF, DWA, Pure Pursuit, LQR.
Stars: ✭ 40 (-76.47%)
Mutual labels:  control, robotics
StuyLib
Award-Winning FRC Library by StuyPulse Team 694
Stars: ✭ 17 (-90%)
Mutual labels:  math, robotics
Pythonrobotics
Python sample codes for robotics algorithms.
Stars: ✭ 13,934 (+8096.47%)
Mutual labels:  robotics, control
Gym Pybullet Drones
PyBullet Gym environments for single and multi-agent reinforcement learning of quadcopter control
Stars: ✭ 168 (-1.18%)
Mutual labels:  robotics, control
Sophus
C++ implementation of Lie Groups using Eigen.
Stars: ✭ 1,048 (+516.47%)
Mutual labels:  robotics, math
Wave geometry
Manifold geometry with fast automatic derivatives and coordinate frame semantics checking
Stars: ✭ 92 (-45.88%)
Mutual labels:  robotics, math
Ikbt
A python package to solve robot arm inverse kinematics in symbolic form
Stars: ✭ 97 (-42.94%)
Mutual labels:  robotics, math
Robotics setup
Setup Ubuntu 18.04, 16.04 and 14.04 with machine learning and robotics software plus user configuration. Includes ceres tensorflow ros caffe vrep eigen cudnn and cuda plus many more.
Stars: ✭ 110 (-35.29%)
Mutual labels:  robotics, eigen
Pybotics
The Python Toolbox for Robotics
Stars: ✭ 192 (+12.94%)
Mutual labels:  robotics, math
Free gait
An Architecture for the Versatile Control of Legged Robots
Stars: ✭ 263 (+54.71%)
Mutual labels:  robotics, control
Rigidbodydynamics.jl
Julia implementation of various rigid body dynamics and kinematics algorithms
Stars: ✭ 184 (+8.24%)
Mutual labels:  robotics, control
Quaternion
Add built-in support for quaternions to numpy
Stars: ✭ 387 (+127.65%)
Mutual labels:  robotics, math
Math
The Stan Math Library is a C++ template library for automatic differentiation of any order using forward, reverse, and mixed modes. It includes a range of built-in functions for probabilistic modeling, linear algebra, and equation solving.
Stars: ✭ 494 (+190.59%)
Mutual labels:  math, eigen
Grl
Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
Stars: ✭ 105 (-38.24%)
Mutual labels:  robotics, control
Open Quadruped
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
Stars: ✭ 148 (-12.94%)
Mutual labels:  robotics, control
Unsuperviseddeephomographyral2018
Unsupervised Deep Homography: A Fast and Robust Homography Estimation Model
Stars: ✭ 161 (-5.29%)
Mutual labels:  robotics

Modern Robotics: Mechanics, Planning, and Control

C++ Library

This repository contains the code library accompanying Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017). The user manual is in the doc directory of main repository.

The functions are available in:

Each function has a commented section above it explaining the inputs required for its use as well as an example of how it can be used and what the output will be. This repository also contains a pdf document that provides an overview of the available functions using MATLAB syntax. Functions are organized according to the chapter in which they are introduced in the book. Basic functions, such as functions to calculate the magnitude of a vector, normalize a vector, test if the value is near zero, and perform matrix operations such as multiplication and inverses, are not documented here.

The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Installation

1. Install Eigen library.

  • On Mac
[email protected]:~$ brew install eigen
  • On Linux
[email protected]:~$ sudo apt-get install libeigen3-dev

2. Prepare build

[email protected]:~$ mkdir build && cd build

By default cmake will install our build into the system directories. To define a custom install directory we simply pass it to cmake:

[email protected]:build $ cmake .. -DCMAKE_INSTALL_PREFIX=../_install

Or just configure with defaults

[email protected]:build $ cmake ..

Building and installing library

[email protected]:build $ make all && make install

Testing the library

[email protected]:build $ ./lib_test
Note that the project description data, including the texts, logos, images, and/or trademarks, for each open source project belongs to its rightful owner. If you wish to add or remove any projects, please contact us at [email protected].