Signals Cpp

Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.

View the library documentation HERE.

Installation

This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of Eigen and Boost (unit test framework only). The library manif-geom-cpp must also be installed.

Install with

mkdir build
cd build
cmake ..
make # or make install

By default, building will also build and run the unit tests, but this can be turned off with the CMake option BUILD_TESTS.

Signals

Manifold signal types:

SO3Signal<T> x;
SE3Signal<T> x;

Integrators

Euler integrator:

IntegrateEuler f;
f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);

Trapezoidal integrator:

IntegrateTrapezoidal f;
f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);

System Models

Pending implementations:

• TranslationalDynamics1DOF<T>
  • Point mass system confined to a straight line.
• TranslationalDynamics2DOF<T>
  • Point mass system confined to a plane.
• TranslationalDynamics3DOF<T>
  • Point mass system in a 3-dimensional space.
• RotationalDynamics1DOF<T>
  • Single-axis rotating mass system fixed in space.
• RotationalDynamics3DOF<T>
  • Rotating mass fixed in 3D space.
• RigidBodyDynamics3DOF<T>
  • Rigid body system confined to a plane (unicycle model).
• RigidBodyDynamics6DOF<T>
  • Rigid body system in 3D space.

Docs Generation

Generate updated docs in the docs/ directory with

doxygen Doxyfile