Various robotics-tailored cpp utilities to perform signal processing, parameter identification and more
These include
-
a cpp wrapper ("model interface") around Pinocchio's model class
-
signal processing utilities: a numerical differentiator and an integrator, a moving average filter, a couple of sign function implementations
-
trajectory utilities: class for computing an 9th-order super smooth polynomial transition between values, a linear interpolator, a class for loading standardized trajectories using MatLogger2
-
xbot2-specific utilities (see XBot2.0): class for getting quadrature current measurements from XBot2 aux ROS topics
-
calibration utilities: quadrature current estimator for three-phase BLDC-based actuators, actuator friction model runtime calibrator, friction observer
-
contact estimation utilities: implementation of a first order momentum-based force estimator
-
cartesian impedance controllers
Non-optional external dependencies: