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.
mkdir build && cd build
cmake ..
make
sudo make install
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)
You can find the accompanying article here and more information on our website.
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}
}