sadET
control-toolbox
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sadET | control-toolbox | |
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1 | 1 | |
1 | 1,294 | |
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6.6 | 0.0 | |
about 1 month ago | over 1 year ago | |
C++ | C++ | |
MIT License | BSD 2-clause "Simplified" License |
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sadET
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Assign expression-template to variable in C++
Then, each expression should carry enough information that you can call different member functions, such as derivative for their derivative, or conjugate to take its complex conjugate, etc. Now, the conjugate (and derivative) member function should somehow inherit its behaviour from the sub expressionss. You only need to define what conjugate means for the Number class, and then all other expressions, just apply this function to its sub expressions, until a Number is reached. I am not sure if this is detailed enough, but I apply this logic here. In this piece of code, I am using ETs to that define expressions, and then use these expressions to take their derivatives. This is an autodiff library (without dual numbers), which works well, but it suffers from the the problem; can't find a way to assign and reassign variables to expressions.
control-toolbox
What are some alternatives?
Zygote.jl - 21st century AD
libmpc - libmpc++ is a C++ header-only library to solve linear and non-linear MPC
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
QDriverStation - Cross-platform clone of the FRC Driver Station
teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
ocs2 - Optimal Control for Switched Systems
TemporalSetInversion - Reference implementation for "Temporal Set Inversion for Animated Implicits" (SIGGRAPH 2023)