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A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.

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epfl-lasa/control-libraries

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!!! The development of this repository is discontinued.

Control Libraries

A set of libraries to facilitate the creation of full control loop algorithms, including trajectory planning, kinematics, dynamics and control.

Documentation is available at epfl-lasa.github.io/control-libraries.

Core libraries

For the implementation, installation and documentation of the core libraries, see the source folder.

Protocol

There is a module that defines the protocol for sending and receiving messages containing control libraries data across any network, based on the Google Protocol Buffer. For its implementation, installation and documentation, see the protocol folder.

Python bindings

There exist Python bindings for the control library modules and the protocol module. See the python folder for installation instructions.

Demos

For examples and demos in C++ and Python, refer to the demos folder. TODO link ros demos repo

License

This project is provided free and open-source under the GPLv3 license. See the licenses folder for more information.

External resources

  • C++ remote development in CLion here
  • ROS and ROS2 demos using control libraries here
  • ROS and ROS2 control libraries images here

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A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.

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