control-toolbox
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ethz-adrl
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
I created a custom System of my Robot using the Dynamics and Kinematics wrappers that ct_rbd provides. I am retrieving the Jacobian matrix using: ~~~ ct::rbd::MyUR::Kinematics::Jacobians::Type_fr_world_J_fr_ee_link jacobian_instance; auto J =...
* include a interface for logging to octave types * since none from the core developer team is currently able to maintain the MATLAB interface, consider removing matlab-related code entirely...
Hello, On the documentation site, all class reference links seem to be broken. For example, at page: https://ethz-adrl.github.io/ct/ct_doc/doc/html/core_tut_control.html clicking on any of the links (such as [ct::core::PIDController](https://ethz-adrl.github.io/ct/ct_doc/ct_core/doc/html/classct_1_1core_1_1PIDController.html)) gives a 404...
This PR results from a conversation I had with Michael Neunert back in May via the CT Devs mail group. Sorry for the delay, I finally found the time to...
The example robot arm model should be replaced by something more convenient to users, i.e. UR10, Franka Panda, etc.
First off, great job on this project and thank you for developing it! It pleases me to see such a toolbox available openly. I was wondering if there are plans...
Currently, we only support fixed-size types. In order to simplify the creation of python bindings, we should extend the CT to also support dynamic sizes.
LQOC solver should pass back solver return status to NLOC for better error handling. Especially important for hpipm.
* probably some ill-formulated ASSERT * TODO: investigate and fix.