ami-iit / lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
☆63Updated last year
Related projects ⓘ
Alternatives and complementary repositories for lie-group-controllers
- Control and estimation on Lie groups☆56Updated 7 months ago
- ☆29Updated last year
- Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.☆38Updated 5 months ago
- Learning Drake from the perspective of a robotics beginner.☆41Updated 7 months ago
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆69Updated 5 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆40Updated 2 months ago
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆40Updated 3 weeks ago
- ROS examples for the control toolbox☆34Updated 4 years ago
- ☆20Updated last month
- ROS package for the simulation of legged platforms using Gazebo☆27Updated 3 years ago
- Code for various extended Kalman filter state estimation methods for Cassie.☆43Updated 5 years ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆60Updated 2 weeks ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆57Updated 8 months ago
- ☆25Updated 4 years ago
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆13Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆61Updated 8 months ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆13Updated 2 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆35Updated last year
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆38Updated last week
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- C++ interface for hpipm, a high-performance interior point MPC solver☆90Updated last year
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- Non-linear model predictive control (NMPC) library☆38Updated 11 months ago
- Unified C++ interface for quadratic programming solvers☆47Updated last year
- RobCoGen code generator for any quadruped robot from the xacro description☆13Updated 3 years ago
- ☆24Updated this week
- Minimal project using Pinocchio as Rigid Body Dynamics library☆19Updated 2 weeks ago
- ☆20Updated last year
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Generalized Splines for Motion Optimization in C++ and python3☆64Updated last month