ContinuumRobotExamples
ifopt
| ContinuumRobotExamples | ifopt | |
|---|---|---|
| 1 | 2 | |
| 137 | 736 | |
| - | 2.4% | |
| 10.0 | 4.0 | |
| almost 2 years ago | 9 months ago | |
| C++ | C++ | |
| MIT License | BSD 3-clause "New" or "Revised" License |
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ContinuumRobotExamples
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How to do position control of an elastic robot arm?
You certainly can solve elastic robot IK, which I've looked at in a past life. However, any solution likely involves bespoke modeling.
ifopt
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[Q] Library for NLP and Trajectory Optimization
Ifopt - seems incredible but the C++ level is unfortunately above my current skill. https://github.com/ethz-adrl/ifopt
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building a ROS1 node that depends on a shared precompiled library
Here is an example CMakeLists.txt and associated cmake module FindSNOPT.cmake that does what you want.
What are some alternatives?
webots - Webots Robot Simulator
Monocular-Visual-Odometry - A simple monocular visual odometry (part of vSLAM) by ORB keypoints with initialization, tracking, local map and bundle adjustment. (WARNING: Hi, I'm sorry that this project is tuned for course demo, not for real world applications !!!)
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
Heuristic_path_planners - Collection of classes and functions to allow 2D/3D path generation with heuristic algorithms such as A*, Theta* and LazyTheta* and ROS Interfaces
LazyMath - Complex Conjugate Gradient linear solver and Levenberg-Marquardt minimizer with and without constraints in C++
matio-cpp - A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.
crocoddyl - Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
Flow - Flow is a software framework focused on ease of use while maximizing performance in closed closed loop systems (e.g. robots). Flow is built on top of C++ 20 coroutines and utilizes modern C++ techniques.
tensorflow_cpp - Helpful model wrappers around TensorFlow C++ API