ami-iit / liecasadi
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
☆70Updated 5 months ago
Related projects ⓘ
Alternatives and complementary repositories for liecasadi
- ☆28Updated last month
- Header-only C++ library containing controllers designed for Lie Groups.☆63Updated last year
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆60Updated 2 weeks ago
- Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.☆38Updated 5 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆40Updated 2 months ago
- ☆24Updated this week
- an intuitive optimization tool tailored to robotics, based on CasADi☆72Updated this week
- Light-weight C++ library for fast embedded nonlinear optimisation and optimal control☆47Updated last year
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆91Updated 6 months ago
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆117Updated last month
- Low-Complexity Inverse Kinematics☆51Updated 3 months ago
- An efficient c++ library targeting robotics applications using geometric algebra☆72Updated last month
- A Fast Solver for Constrained Trajectory Optimization☆69Updated last year
- Model predictive control in Python based on quadratic programming☆32Updated 2 months ago
- ☆33Updated this week
- In this repository we store tools and utilities shared between our repositories.☆12Updated 5 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- Import your robot in blender and animate it!☆26Updated 4 months ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- ☆65Updated last year
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆41Updated 2 months ago
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆38Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆36Updated 9 months ago
- ☆29Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆70Updated this week
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆87Updated last month
- ICRA 2022 paper☆29Updated 2 months ago
- Differentiable QP solver in JAX☆74Updated last month
- Probabilistic Contact State Estimation for Legged Robots in ROS☆61Updated 8 months ago