Top 12 C++ motion-planning Projects
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pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
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Robotics Library (RL)
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
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crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
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Project mention: Good examples of C++ source code for math oriented software development? | /r/cpp_questions | 2023-06-17
You might find this library interesting: https://github.com/symforce-org/symforce
Project mention: Best practices in creating a Rust API for a C++ library? Seeking advice from those who've done it before. | /r/rust | 2023-05-26In Robotics, the Open Motion Planning Library (OMPL) is a popular library for multi-dimensional motion planning, and is used by ROS and other robotics-related software. There are no Rust bindings to OMPL (though there is Rust support for software like ROS), and the library is written almost exclusively in C++. There are Python bindings, but those are generated using Py++. The header files throughout OMPL are C++ header files, not C, as they contain namespaces, classes, etc.
There is an open-source project which is of personal interest for me -- a robotic motion planning library which is called Ruckig. It is a relatively small C++17 tool which does one thing and does it well -- it plans kinematically-optimal multi-degrees-of-freedom trajectories for robotics controllers. Doesn't matter what it really means. It is a software library that is supposed to be a part of another software tools or libraries. It has Python bindings (of course), and can be used from a Jupyter notebook. Well, as I found recently, it now has WebAssembly bindings too to provide a simple web GUI.
C++ motion-planning related posts
Index
What are some of the best open-source motion-planning projects in C++? This list will help you:
| Project | Stars | |
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| 1 | Fast-Planner | 2,181 |
| 2 | pinocchio | 1,479 |
| 3 | path_planner | 1,432 |
| 4 | symforce | 1,345 |
| 5 | ompl | 1,319 |
| 6 | Robotics Library (RL) | 844 |
| 7 | towr | 836 |
| 8 | crocoddyl | 691 |
| 9 | ruckig | 585 |
| 10 | tesseract | 232 |
| 11 | AIKIDO | 209 |
| 12 | deep_grasp_demo | 96 |
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