stdBLAS
pinocchio
| stdBLAS | pinocchio | |
|---|---|---|
| 4 | 9 | |
| 104 | 1,530 | |
| 8.7% | 7.5% | |
| 5.0 | 9.3 | |
| about 1 month ago | 15 days ago | |
| C++ | C++ | |
| GNU General Public License v3.0 or later | GNU General Public License v3.0 or later |
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
stdBLAS
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Which is the best way to work with matrices and linear algebra using c++?
You can have a look at https://github.com/kokkos/stdBLAS (it's an implementation of the proposed linear algebra extensions for future C++).
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C++23: Near The Finish Line
It has the same BSD license as Kokkos: https://github.com/kokkos/stdBLAS/blob/main/LICENSE
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Linear Algebra Library Reccomendations?
The BLAS and LAPACK have C interfaces, and they generally don't allocate memory unless you ask them. (Some BLAS implementations allocate internal storage for rearranging matrix data.) There are a few C++ BLAS wrappers; here is one of them.
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Is there an OOP-wrapper library for cublas?
The second one is stdBLAS by kokkos. It doesn't even use cuBLAS but it's a reference implementation of P1673. This paper describe what could be a blas API in the std. I would recommend trying to do something equivalent on your side.
pinocchio
- Good examples of C++ source code for math oriented software development?
- How to do position control of an elastic robot arm?
- Which is the best way to work with matrices and linear algebra using c++?
- I want to build a bipedal robot. Are there any open source libraries to handle walking and balancing?
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
Open-loop walking + physics: (e.g. ZMP-based) one thing you can do (that does not imply adding an IMU to Kayra and going for feedback) is include some walking physics into your walking trajectory generation. To give you an idea, I've written a tutorial on doing that in Python a couple of years ago. The libraries in this tutorial are deprecated now, but I'm working on an equivalent stack at github.com/tasts-robots using more durable software like pinocchio. The libs are still WIP but if you are interested in exploring that dev path (i.e. making a ZMP-based trajectory generator for Kayra) I can support you and help adapt them (because I want that SW to be useful for a maximum number of people).
- What type of software is widely used for robotics in industry?
- I have a robot model in URDF (running in pybullet). Are there easy tools to get the forward/inverse kinematics, and especially use that to plug it into a LQR controller?
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What software can I use to play around with articulated robots?
Drake and Pinocchio both use the Python interface to Meshcat as an option for visualizing robots, and they can both do the forward kinematics and have visualizer components that place the visual meshes properly relative to the computed frames, but both of those are full-fledged and complex kinematics and dynamics libraries for contact-rich interaction (and more), so the API calls to get a model set up are doing a lot more than providing a visual model you can feed joint angles to.
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Rigid Body Dynamics Libraries
Pinocchio sounds like exactly what you need: https://github.com/stack-of-tasks/pinocchio
What are some alternatives?
mdspan - Reference implementation of mdspan targeting C++23
meshcat - Remotely-controllable 3D viewer, built on top of three.js
kokkos - Kokkos C++ Performance Portability Programming Ecosystem: The Programming Model - Parallel Execution and Memory Abstraction
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
plf_hive - plf::hive is a fork of plf::colony to match the current C++ standards proposal.
idyntree - Multibody Dynamics Library designed for Free Floating Robots
LEWG - Project planning for the C++ Library Evolution Working Group
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
plf_colony - An unordered C++ data container providing fast iteration/insertion/erasure while maintaining pointer/iterator validity to non-erased elements regardless of insertions/erasures. Provides higher-performance than std:: library containers for high-modification scenarios with unordered data.
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
papers - ISO/IEC JTC1 SC22 WG21 paper scheduling and management
meshcat-python - WebGL-based 3D visualizer for Python