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README.md

OVERVIEW

Reflex is a package for real-time robot control. It includes the following:

  • Workspace (Cartesian) Control for Robot Arms
    • Generates kinematics code in C from URDF
  • Linear Quadratic Gaussian Control and Estimation
    • Compute optimal Kalman/LQR gains
    • Discrete Kalman Filter
    • Extended Kalman Filter
    • Continuous Kalman-Bucy Filter
    • LQR Controller

INSTALLATION

./configure && make && make install

See the INSTALL file for details.

WORKSPACE CONTROL

  • To generate code from URDF, see ./scripts/rfx-urdfc. Basic usage is rfx-urdfc myrobot.urdf. For details, do rfx-urdfc --help.

DEMOS

rfx-trajgen

The rfx-trajgen program will covert a set of waypoints to a dense trajecory. See man rfx-trajgen for details.

rfx-camcal

The rfx-camcal program will find a camera transform based on corresponding camera and forward-kinematic pose estimates.

Example

See the file cartpend.c for an example of how to do LQG filtering and control.