symforce
Colosseum
| symforce | Colosseum | |
|---|---|---|
| 15 | 2 | |
| 1,347 | 266 | |
| 1.0% | 5.3% | |
| 8.9 | 5.8 | |
| 11 days ago | 6 months ago | |
| C++ | C++ | |
| Apache License 2.0 | GNU General Public License v3.0 or later |
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symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
Colosseum
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SWARM Simulation Platform
As someone made a comment but then removed that, we started this project using AirSim, an open source plugin for UE. However, Microsoft has shut it down so we decided to continue the open source project here: https://github.com/CodexLabsLLC/Colosseum
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Drone Racing RL Environments
My company, Codex Labs, has taken over the AirSim project, which we rebranded as Colosseum just to avoid confusion. We are continuing this project on here: https://github.com/CodexLabsLLC/Colosseum.
What are some alternatives?
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
flightmare - An Open Flexible Quadrotor Simulator
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
AirSim-Drone-Racing-Lab - A framework for drone racing research, built on Microsoft AirSim.
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
webots - Webots Robot Simulator
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
gym-pybullet-drones - PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
apollo - An open autonomous driving platform
xflrpy - xflrpy is a python enabled version of xflr5 for scripting and design optimization.
TeleSculptor - TeleSculptor: Aerial Photogrammetry Application powered by KWIVER