Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
The Generic Robotics Library (GRL) has a long term goal of implementing robotics algorithms using generic programming in C++11.
This demo video is of the KUKA iiwa robot following a path using GRL. What appears to be a "wobbling" motion is actually a highly precise pre-planned path consisting of tiny, nearly concentric circles relative to an object.
Copyright (c) 2015-2016 Andrew Hundt
See COPYING file for license information.
See build and installation instructions given in the INSTALL file.
See the software manual for details on the software including a demonstration of how to apply the software tools provided by this package.
|BasisProject.cmake||Meta-data used for the build configuration.|
|[CMakeLists.txt] 2||Root CMake configuration file.|
|[config/] 3||Package configuration files.|
|[data/] 4||Data files required by this software.|
|[doc/] 5||Documentation source files.|
|[example/] 6||Example files used for demonstration.|
|[include/] 7||Public header files.|
|[src/] 8||Source code files.|
|[test/] 9||Regression and unit tests.|