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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.