Geometric Algebra For RObotics

This library provides a geometric algebra tools targeted towards robotics applications. It includes various computations for the kinematics and dynamics of serial manipulators as well as optimal control.

Please visit https://gitlab.com/gafro in order to find the entire gafro software stack.

Installation

mkdir build && cd build
cmake ..
make
sudo make install

Usage

gafro can be used either standalone or within a catkin workspace. In both cases it can be used in a CMakeLists.txt as follows:

find_package(gafro REQUIRED)

target_link_libraries(target gafro::gafro) 

Background

You can find the accompanying article here and more information on our website.

How to cite

If you use gafro in your research, please cite the

@article{loewGeometricAlgebraOptimal2023,
  title = {Geometric {{Algebra}} for {{Optimal Control}} with {{Applications}} in {{Manipulation Tasks}}},
  author = {L\"ow, Tobias and Calinon, Sylvain},
  date = {2023},
  journal = {IEEE Transactions on Robotics},
  doi = {10.1109/TRO.2023.3277282}
}

Core-dev Team

The currently active core developers of gafro are:

• Tobias Löw : main developer and manager of the project
• Philip Abbet : CI/CD, packaging, Python bindings

Acknowledgments

The development of gafro is actively supported by the Idiap Research Institute.