ami-iit / lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
☆66Updated 2 months ago
Alternatives and similar repositories for lie-group-controllers:
Users that are interested in lie-group-controllers are comparing it to the libraries listed below
- Control and estimation on Lie groups☆59Updated 11 months ago
- Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.☆46Updated 2 weeks ago
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆76Updated last week
- ☆30Updated 4 years ago
- Rviz plugins to display whole-body states and trajectories☆67Updated this week
- Code for various extended Kalman filter state estimation methods for Cassie.☆43Updated 5 years ago
- ☆28Updated 2 years ago
- ROS package for the simulation of legged platforms using Gazebo☆27Updated 3 years ago
- ☆22Updated this week
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆36Updated last year
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆43Updated 4 months ago
- Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.☆14Updated 5 years ago
- ROS wrapper for the invariant-ekf C++ library.☆46Updated 5 years ago
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆13Updated 2 years ago
- Unified C++ interface for quadratic programming solvers☆55Updated last week
- An Open Source Task Solving library with Constraints☆22Updated 10 years ago
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- A robot simulator running on simulink☆31Updated 9 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆35Updated 2 years ago
- Generalized Splines for Motion Optimization in C++ and python3☆89Updated 5 months ago
- ☆24Updated 2 weeks ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆14Updated 2 years ago
- Low-Complexity Inverse Kinematics☆75Updated 2 months ago
- ☆24Updated last year
- Learning Drake from the perspective of a robotics beginner.☆41Updated 11 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆51Updated last week
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆29Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆69Updated 3 months ago