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An implementation of the Control Basis Framework (CBF) idea
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This project is now maintained by Robert Haschke ------------------------------------------------ Find it at http://github.com/rhaschke/CBF - CBF - A Control Basis Framework Library This is a C++-library for the control basis framework. Grupen et. al. proposed the basic idea to factor closed loop controllers into individual simple components. This software has been developed with the generous support of the CITEC (Cognitive Interaction Technology - Center of Excellence), which is part of the Excellence Initiative of the German Federal Government. http://www.cit-ec.de/ The author would also like to thank Matthias Schoepfer, Dr. Robert Haschke and Prof. Dr. Helge Ritter of the Neuroinformatics Group at Bielefeld University for their many helpful comments and insightful discussions.. http://www.ni.techfak.uni-bielefeld.de - Literature See e.g. http://www-robotics.cs.umass.edu/Publications/Publications for a list of relevant publications, especially: http://www-robotics.cs.umass.edu/Papers/huber_thesis.ps.gz - How to get the software Install the git toolchain on you computer. Then from a console, clone this repository: git://github.com/fps/CBF.git You can use e.g. this comand to check the current version of the software into a directory called cbf: git clone git://github.com/fps/CBF.git cbf - Requirements - A C++ compiler that likes templates - Eigen Matrix Library: http://eigen.tuxfamily.org - Optional Requirements - KDL, for KDL-based inverse and forward kinematics - libpa10, for operating the pa10 robot arm - xsd, a xml schema to c++ translator. This is needed if you want to be able to create controllers automatically from XML files - libxerces-c++ 2.6 or higher - Python C API and boost.python¸ the BOOST python bindings, if you would like to be able to prototype new sensor/ effector transforms or potential functions using python code embedded into libcbf - Doxygen, for building the documentation - Installation See the INSTALL file for information on how to build and install the software - Author Florian Paul Schmidt (email@example.com)