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List of software packages

The Robotics Research group has a long history in robot software development. Many software is released as free and open source software.
 

Orocos Toolchain

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The Orocos Toolchain (C++) provides general-purpose, modular and run-time configurable software components for building real-time robot and machine control applications.

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Kinematics and Dynamics Library (KDL)

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The Kinematics and Dynamics Library (KDL) supplies C++ code for representing geometric primitives and kinematic structures of rigid bodies. It offers furthermore realtime solvers for forward and inverse kinematics and dynamics.

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Expressiongraph library

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The expressiongraph library provides expression trees for representation of geometric expressions and automatic differentiation of these expressions. This enables to write down geometric expressions at the position level, and automatically compute Jacobians and higher order derivatives efficiently and without loss of precision. The library is built upon the KDL library and uses the same geometric primitives. Most operators and functions for the basic primitives of KDL, have an equivalent in the expression tree library.

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Bayesian Filtering Library (BFL)

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The Bayesian Filtering Library (BFL) provides an application independent framework in C++ for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule, such as (Extended) Kalman Filters, Particle Filters (or Sequential Monte Carlo methods).

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rFSM

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rFSM is a reduced (lightweight) Statechart implementation. It is mainly designed for the Coordination of complex systems but is not limited to that. rFSM is written in pure Lua and is therefore highly portable and embeddable. As a Lua domain specific language rFSM inherits the extensibility of its host language

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Geometric relation semantics

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The geometric relations semantics software (C++) offers support for automatic semantic checks during rigid body relations calculations, on top of existing geometric libraries. The software prevents commonly made errors in geometric rigid body relations  calculations such as relative position, orientation, translational velocity and  rotational velocity between two rigid bodies.

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Invariant trajectory descriptors

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The invariant trajectory representations software (Matlab) provides tools to calculate different kinds of invariant trajectory descriptors of given rigid body and point trajectories. The obtained invariant properties are useful to generalize observed motions yielding benefits in motion recognition and adaptive motion generation.

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