Mathematics-for-Robotics

Important mathematical algorithms used in robotics implemented using C++.

How to get started?

# Setup for linux
git clone https://github.com/anubhav1772/Mathematics-for-Robotics.git
cd Mathematics-for-Robotics && mkdir build && cd build
cmake ..
make

Helpful libraries

• Eigen - Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
  • Documentation
  • Gitlab
• Pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.
  • Documentation
  • Github
• Ipopt - Ipopt (Interior Point Optimizer, pronounced "Eye-Pea-Opt") is an open source software package for large-scale nonlinear optimization.
  • Github
• Cppad - A C++ Algorithmic Differentiation Package.
  • Github
• Gurobi - It includes a powerful solver for LP, QP, MIP and other optimization problems.
  • Github
  • Documentation
  • Examples
• Drake - A collection of tools for analyzing the dynamics of our robots and building control systems for them, with a heavy emphasis on optimization-based design/analysis.
  • Github
  • Tutorials

Dependencies

• Eigen v3.4.0 - Installation