Robotics Library

For first time users, please have a look at our website. Also, please refer to the website for tutorials, a high-level API description and answers on frequently asked questions (FAQ).

API Overview

Basic Structures, Algorithms and OS Abstraction

• rl::math - General mathematical data structures and algorithms.
  • Basic linear algebra data structures rl::math::Vector, rl::math::Matrix, rl::math::Array, rl::math::Transform, rl::math::Quaternion
  • Spatial vector algebra rl::math::MotionVector, rl::math::ForceVector, rl::math::PlueckerTransform, rl::math::RigidBodyInertia, rl::math::ArticulatedBodyInertia
  • Generic functions rl::math::Function, rl::math::Polynomial, rl::math::Circular
  • Piecewise polynomial spline function rl::math::Spline
  • Generic metrics for L2 rl::math::metrics::L2 and squared L2 rl::math::metrics::L2Squared
  • Nearest neighbors search rl::math::LinearNearestNeighbors, rl::math::GnatNearestNeighbors, rl::math::KdtreeNearestNeighbors, rl::math::KdtreeBoundingBoxNearestNeighbors
  • Generic PID controller rl::math::Pid
  • Generic Kalman filter rl::math::Kalman and low-pass filter rl::math::LowPass
• rl::util - Operation system abstraction and utility functions.
• rl::xml - XML abstraction including XPath support

Hardware Interfaces

• rl::hal - Hardware abstraction layer for sensors, actuators, and robots
  • Abstract devices rl::hal::JointPositionSensor, rl::hal::JointPositionActuator, rl::hal::Camera, rl::hal::RangeSensor
  • Cross-platform socket implementation rl::hal::Socket, cross-platform serial communication rl::hal::Serial
  • Robot drivers rl::hal::Coach, rl::hal::MitsubishiH7, rl::hal::UniversalRobotsRtde
  • Gripper driver rl::hal::WeissWsg50
  • Laser scanner and range sensor drivers rl::hal::LeuzeRs4, rl::hal::SchmersalLss300, rl::hal::SickLms200, rl::hal::SickS300, rl::hal::SchunkFpsF5
  • Camera driver rl::hal::Dc1394Camera
  • Force-torque sensor driver rl::hal::Ati, rl::hal::Jr3, rl::hal::WeissKms40

Kinematics, Dynamics and Trajectory Generation

• rl::mdl - Kinematic and dynamic spatial vector calculations, including several joint types and branched kinematics
  • Generic model rl::mdl::model with joint types rl::mdl::Revolute, rl::mdl::Prismatic, rl::mdl::Cylindrical, rl::mdl::Helical, rl::mdl::Spherical
  • Kinematic model specialization rl::mdl::Kinematic with forward kinematics rl::mdl::Kinematic::forwardPosition
  • Dynamic model specialization rl::mdl::Dynamic with forward rl::mdl::Dynamic::forwardDynamics and inverse dynamics rl::mdl::Dynamic::inverseDynamics using spatial vector algorithms, including external forces
  • Inverse kinematics rl::mdl::JacobianInverseKinematics, rl::mdl::NloptInverseKinematics
  • XML loader for kinematics and dynamics rl::mdl::XmlFactory
  • URDF loader for kinematics and dynamics rl::mdl::UrdfFactory

Collision Checking, Visualization and Path Planning

• rl::sg - Scene graph abstraction for collision checking, distance queries, raycasts, and visualization
  • Basic scene graph hierarchy of a rl::sg::Scene containing multiple rl::sg::Model containing multiple rigid rl::sg::Body
  • Scene loader for XML/VRML files rl::sg::Scene::load
  • Abstract collision checking call rl::sg::SimpleScene::areColliding
  • Transparent wrappers for several collision checking libraries, Bullet Physics rl::sg::bullet::Scene, FCL rl::sg::fcl::Scene, Open Dynamics Engine rl::sg::ode::Scene, Proximity Query Package rl::sg::pqp::Scene, SOLID rl::sg::solid::Scene
  • Visualization with Coin3D data structure with the VRML scene node rl::sg::so::Scene::root
• rl::plan - Robot path planning algorithms
  • Path planning problem with robot kinematic and collision scene rl::plan::Model
  • Sampling techniques in configuration spaces rl::plan::UniformSampler, rl::plan::GaussianSampler, rl::plan::BridgeSampler
  • Collision-free path verification rl::plan::SequentialVerifier, rl::plan::RecursiveVerifier
  • Configuration space metric rl::plan::Metric and workspace metric rl::plan::WorkspaceMetric
  • Configuration space nearest neighbors search rl::plan::LinearNearestNeighbors, rl::plan::GnatNearestNeighbors, rl::plan::KdtreeNearestNeighbors, rl::plan::KdtreeBoundingBoxNearestNeighbors
  • Path planning algorithms related to rapidly-exploring random trees rl::plan::Rrt, rl::plan::RrtDual, rl::plan::RrtCon, rl::plan::RrtExtCon, rl::plan::RrtConCon, rl::plan::RrtExtExt
  • Path planning algorithms related to probabilistic roadmaps rl::plan::Prm, rl::plan::PrmUtilityGuided
  • Exploring/exploiting tree path planner rl::plan::Eet
  • Path optimization algorithms rl::plan::SimpleOptimizer, rl::plan::AdvancedOptimizer