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PythonRobotics
autodiff | PythonRobotics | |
---|---|---|
7 | 10 | |
1,534 | 21,764 | |
1.1% | - | |
7.8 | 8.8 | |
about 1 month ago | 7 days ago | |
C++ | Python | |
MIT License | GNU General Public License v3.0 or later |
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- The Elements of Differentiable Programming
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Astray: A performance-portable geodesic ray tracing library.
I completely agree. Specifying the metric rather than the Christoffel symbols would make it much easier for the users. Something like https://github.com/autodiff/autodiff might just work as the metric tensor is made up of primitives.
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Point-to-Point Distance Constraint: Gradient of Forward Kinematics
Old username :D So far I have been using Eigen for linear algebra and NLOPT for optimization algorithms. I have found "autodiff" that hopefully looks easy to use: https://github.com/autodiff/autodiff
- Autodiff: Simple C++17 library for Automatic Differentiation
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Gradients Without Backpropagation
Forward-mode differentiation is easy to implement in C++ with templates, operator overloading, and dual numbers (https://en.wikipedia.org/wiki/Automatic_differentiation#Auto...). Some libraries such as autodiff (https://github.com/autodiff/autodiff) and CppAD (https://github.com/coin-or/CppAD) use this method.
- Ensmallen: A C++ Library for Efficient Numerical Optimization
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I am creating a fast, header-only, C++ library for control algorithms
I was thinking of adding [autodiff](https://github.com/autodiff/autodiff) in the future, mainly because it works seamlessly with *Eigen*. One big advantage would be that I could use it for AD for NonlinearSystems as well.
PythonRobotics
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Python Alternative to MATLAB's UAV Toolbox?
I usually start here: https://github.com/AtsushiSakai/PythonRobotics , but I'm not sure how much is extended to 3D off the top of my head.
- kalman filter & c++
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Robot path planning
Code is on github. You could try to start with the main method here: https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/AStar/a_star.py
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slam using rplidar A1 in python only
Also another good source of material https://atsushisakai.github.io/PythonRobotics/
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probabilistic robotics as ros packages
Look into the following source. Its not implemented in ROS but there are examples of implementation of Robotics algorithms in python. From there it should be easy to implement them in ROS after you understand how ROS work. https://atsushisakai.github.io/PythonRobotics/
- A Robotics Roadmap to get you started
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I am creating a fast, header-only, C++ library for control algorithms
This was partly inspired by PythonRobotics (which I love!). However, I don't want this repo to become a huge collection of unorganized algorithms. I want the focus to be on quality over quantity. At the same time, I don't want this repo to be only "educational". While I want to include as many examples as possible for educational (and documentation) purpose, I want this library to be fast so that it can be used in practical applications.
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i dont know what to do next with ros
check out python robotics https://github.com/AtsushiSakai/PythonRobotics
- Comprehensive Simulation Library for Robotics
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LQR controller on a v-rep robot by Matlab
https://github.com/AtsushiSakai/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control
What are some alternatives?
CppAD - A C++ Algorithmic Differentiation Package: Home Page
rospy - ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
FastAD - FastAD is a C++ implementation of automatic differentiation both forward and reverse mode.
roslibpy - Python ROS Bridge library
MathNet - Math.NET Numerics
mini-cheetah-tmotor-python-can - Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface
MKL.NET - A simple cross platform .NET API for Intel MKL
rtabmap - RTAB-Map library and standalone application
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
PYQT-RVIZ - The following GUI is performed in PYQT4 for the teleoperation and control of a simulated differential mobile robot in RVIZ using ROS.
Microsoft Automatic Graph Layout - A set of tools for graph layout and viewing
dwm1001-examples - Simple C examples for Decawave DWM1001 hardware