Discovered public repositories for poftwaresatent in the GitHub catalog.
(old) PR2 Dynamics Identification Toolbox. Mostly based on gross simplifying assumptions, this set of tools should allow us to see whether we at least got the orders of magnitude right in the various parameters of the rigid dynamics model. Masses, centers of masses, and moments of inertia are the model parameters under consideration. Originally hosted on gitorious.org as dynamics_identification (without the pr2_ prefix), until they got bought.
Minimal TAO with joint-space dynamics wrappers. This was based on stanford-wbc-0.5 and used for headless simulation. One of the main goals was to clean out accumulated gruft from the original TAO dynamics engine, do proper coverage testing, and work on more streamlined and convenient data structures, and possibly better support spherical joints that use quaternions (where the number of positional parameters is 4 but for velocities it's 3). Hosted on gitorious.org until they got bought, copied here mainly for archival purposes.
Halmstad University DT8014 Algorithms (parts)
Halmstad University DA4002 (archived -- 2011 through 2013)
Halmstad University DT8007 Design of Embedded Intelligent Systems
A place for playing around with CHOMP.
Nepumuk simulator plugin for the Vasco project
Cerebrate provides mechatronic control code for artists. Created for "Fernandez", an autonomous cactus by Vincent Kohler and Roland Philippsen, in 2005 for "Science and City" in Geneva. Later additions are "Blink" and "Ibou" (2006) and "Haiko".
Yet another reimplementation of incremental backups... put it on the cloud this time to avoid loosing it yet again.
Second re-implementation of E*, this time in C and generally purified and simplified. Just the basics, but done right.
Public repository.
Constrained optimization library specialized for (mobile) manipulation, geared toward objectives and constraints that can naturally be modeled using a robot's kinematic model. The focus is on reusability, flexibility, and expressive user-level feedback when objectives cannot be achieved.
playing around with distance transforms for differential drive (and similarly constrained) planar motions
Sunflower Mobile Robot Library, version 2 bundled with the Nepumuk planar robot simulator.
Interpolated distance transform for grids, based on Fast Marching. An offshoot from the E* project.
E* Interpolated Graph Replanner
Trying to get some sensible way of archiving all my files based on SHA and hardlinks, with reverse lookup as well. Will start out as a hacky shell script, may evolve if it turns out useful.
Planar First-Order (at least initially) Level Set Method (to play around with things)
This is the open-source "Type I Online Trajectory Generation" library, with minimally invasive ROS package support. The OTG provides acceleration-bounded multi-dimensional trajectories. It has a short and deterministic computation time, making it extremely well suited for real-time robot control.
ROS stack for Stanford_WBC related packages.
Graphical app (somewhat experimental) for playing around with Stanford_WBC.
Third-party dependencies for Stanford_WBC (some optional).
laser scanner driver code from cerebrate.sf.net (make it standalone for easier reuse)
Whole-Body Control framework developed at the Stanford Robotics and AI Lab
Whole-Body Control project, University of Texas at Austin
Sandbox for ASL's ROS package development.