towr
ifopt
| towr | ifopt | |
|---|---|---|
| 1 | 2 | |
| 836 | 734 | |
| 0.8% | 2.2% | |
| 0.0 | 4.0 | |
| about 1 year ago | 8 months ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 3-clause "New" or "Revised" License |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
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.
towr
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How to implement gait correction in my biped
If you're open to libraries, you can take a look at TOWR https://github.com/ethz-adrl/towr which does trajectory optimization and is fast enough to use in real-time.
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?
champ - MIT Cheetah I Implementation
webots - Webots Robot Simulator
Fast_RRT-ROS - RRT-ROS implementation.
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 !!!)
OpenCat - An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
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
popi_project - Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.
LazyMath - Complex Conjugate Gradient linear solver and Levenberg-Marquardt minimizer with and without constraints in C++
teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
matio-cpp - A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.