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Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness. http://modernrobotics.org/

CMake 3.58% C++ 96.42%

cpp robotics modern-robotics cpp11 math eigen control

modernroboticscpp's Introduction

Modern Robotics: Mechanics, Planning, and Control

C++ Library

This repository contains the code library accompanying Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017). The user manual is in the doc directory of main repository.

The functions are available in:

Each function has a commented section above it explaining the inputs required for its use as well as an example of how it can be used and what the output will be. This repository also contains a pdf document that provides an overview of the available functions using MATLAB syntax. Functions are organized according to the chapter in which they are introduced in the book. Basic functions, such as functions to calculate the magnitude of a vector, normalize a vector, test if the value is near zero, and perform matrix operations such as multiplication and inverses, are not documented here.

The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Installation

1. Install Eigen library.

On Mac

foo@bar:~$ brew install eigen

On Linux

foo@bar:~$ sudo apt-get install libeigen3-dev

2. Prepare build

foo@bar:~$ mkdir build && cd build

By default cmake will install our build into the system directories. To define a custom install directory we simply pass it to cmake:

foo@bar:build $ cmake .. -DCMAKE_INSTALL_PREFIX=../_install

Or just configure with defaults

foo@bar:build $ cmake ..

Building and installing library

foo@bar:build $ make all && make install

Testing the library

foo@bar:build $ ./lib_test

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shuoyangrobotics mcptz wayne-xiu ipa ngupta1024 tenyearsadream guzhaoyuan changzhengwu mpost7800 ddl-hust swiz23 collector-m 0000duck liujimu cyan-at sreevis changsuha bingyingl gochinkushi jonathanhuangjq mohakhalili reasonyuanrobot244001743 tyc877 zq32 zhangben0408 tomato1107 githjk oktengfei dorabot chenyuzuoyou kongan littleggghost tjh49 moribots wmmaguire yoonlee-lab 1003613248 amanda1m kikitian kyawlin zhangnage123 yangf10 stevewen dexter575 casterbn zeta1999 5l1v3r1 guomingquan robotia-ai nmboyd zjuetc hitersyw lasithagt atillaaydogdu roar-robotics lantern2016 priscillascu beardedvagabond neolee7300 villwill liyingzhi sheldoninhit xiaodaxia-2008 msnh2012 tongliuzhu wentaobi kc3 grisson sridhargunnam crankler oygx210 xiangshengcn buhuixie andytsing hankfirst hxdaze chawinoph roar-lab-spine peterzhousz nekoshark02 mfkiwl russ76 andresroc qpc001 metavai hit-orange kzmc-china autonomousdrivingthu kouroshd eetuna coachgeorgia personal-fork-robot gaojiahao899 xiaoliangstd chuanzhengli sodapeter ze3000a allencutinha a361251388 lidingzhe

modernroboticscpp's Issues

Test file criterion wrong

In the test file, the test criterion is set to
ASSERT_TRUE(M.isApprox(result, 4));

According to Eigen Doc, this means as long as the difference is smaller than 4 times of min(M, result), it will pass. This is wrong. If you change a little bit of force or matrix list, the test still pass.

Normally we should set the criterion to something like 1e-4.

Will continue to work on functions related to inverse dynamics

Namely:
MassMatrix
VelQuadraticForces
GravityForces
EndEffectorForces

What is the current progress

Hi Le0nX,

I was using Modern Robotics Matlab package recently and thinking of writing my own C++ version but I found your implementation and saw your discussion with stevenjj. Thanks for doing this effort. I want to contribute as well. I would like to know what is your current progress? I folked this repo and will do some testing soon to make it more complete. If you are working on improving the current repo, could you share your currrent progress and development plan?

Please initialize your matrix properly

I submitted a pr to master about adding inverseDynamics.

During the implementation of this function, I experience some numerical problems, I have to stay up until 1:00am to debug. I found them come from TransInv, I need to modifiy it in the following way:

Eigen does not initiate matrixXd to be all zero values. You have to manual initialize them otherwise they will keep random values that can cause numerical issues.

Please initialize your matrix properly, thanks.

Working On InverseDynamics

Hi guys, I am starting to work on inverse dynamics.

Any package for C++ to convert the urdf file into screw axes table?

Hi, @Le0nX , Modern Robotics is a great textbook to learn about robotics and the related topics! Moreover, thank you for the development! However, I wander about are there any packages for c++ to convert the urdf file into screw axes? like mr_urdf_loader. Looking forward to your reply. :)

CMakeLists.txt issues

Just tried to compile on my Ubuntu 16.04 system, and there are a variety of issues that cause this not to compile:

Your cmake_minimum_required version is fairly new. Is there a reason for that? I'm guessing this project would work fine with an older CMake, and that would increase compatibility. Even Ubuntu 18.04 is only on 3.10
There are mixed capital letters and lowercase (e.g. set and SET). While not wrong, it is inconsistent.
Why do you have the users set an EIGEN3_INCLUDE_DIR, and also find_package Eigen? If you can properly run find_package shouldn't EIGEN_INCLUDE_DIRS already be set? Check out this CMakeLists.txt for a good example.
You specify a specific Eigen version, but I'm guessing you don't need that either. Also hurts compatibility.
Would probably be a good idea to compile the testing executable with CMake's add_test
You specify C++ 17, but you aren't using any C++17 features. C++17 requires a newer compiler, and hurts compatibility. I'd suggest specifying the minimum version you need.

Hope that helps out! Let me know if there are any questions.

Document Idea

It is not clear to find functions from header file. We should start to document our code and organize it sooner vs later.
Using doxygen would be a good way to go. We could add this to the project TODO.