pettni / smooth
Lie theory for robotics
☆179Updated 3 weeks ago
Related projects ⓘ
Alternatives and complementary repositories for smooth
- A C++ header-only Eigen-based Library for Lie group operations☆221Updated 2 months ago
- A small collection of Kalman Filters on Lie groups☆347Updated last year
- Control and estimation on Lie groups☆56Updated 7 months ago
- A state estimation package for Lie groups!☆158Updated 2 months ago
- Header-only C++ library containing controllers designed for Lie Groups.☆62Updated last year
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆41Updated last week
- Kinematics and Dynamics for Robotics☆31Updated 9 months ago
- ROS wrapper for the invariant-ekf C++ library.☆45Updated 5 years ago
- gdb configuration to facilitate debugging drake applications.☆24Updated 5 years ago
- Example code for contact-aided invariant extended Kalman filtering.☆78Updated 6 years ago
- A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation☆89Updated 11 months ago
- An efficient, extensible occupancy map supporting probabilistic occupancy, normal distribution transforms in CPU and GPU.☆176Updated last year
- Automatic Differentiated Extended Kalman Filter (ADEKF) - This is a generic EKF Implementation that uses automatic differentiation to get…☆121Updated 6 months ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆246Updated last year
- Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms☆113Updated last month
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆62Updated 4 months ago
- Plane Segmentation Utilites☆160Updated 2 years ago
- A set of lightweight header-only template functions implementing commonly-used optimization methods on Riemannian manifolds and convex sp…☆95Updated 11 months ago
- Reactive obstacle avoidance using raytracing or lidars☆52Updated last month
- Easy to use tools to create and edit trajectories for the rviz camera.☆231Updated 3 years ago
- Seidel's LP Algorithm: Linear-Complexity Linear Programming for Small-Dimensional Variables☆73Updated 2 years ago
- Common Eigen examples for robotics applications☆88Updated 8 years ago
- cheatsheet of all the basics notions of Lie algebra☆72Updated 2 years ago
- [IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization☆194Updated 3 months ago
- Pure static Lie groups in Numpy, Jax, and C++☆25Updated last month
- An efficient and robust framework for occupancy grid mapping and Euclidean distance transform☆98Updated 3 years ago
- C++ interface for hpipm, a high-performance interior point MPC solver☆89Updated last year
- ☆90Updated last year
- Kalman filter using C++ and Manif☆28Updated 2 months ago
- Parallel Search-Based Planning Algorithms☆40Updated last year