{"id":13830875,"url":"https://github.com/idiap/gafro","last_synced_at":"2025-07-23T08:05:32.186Z","repository":{"id":144962025,"uuid":"578178779","full_name":"idiap/gafro","owner":"idiap","description":"An efficient c++ library targeting robotics applications using geometric algebra","archived":false,"fork":false,"pushed_at":"2025-06-12T08:15:04.000Z","size":773,"stargazers_count":79,"open_issues_count":1,"forks_count":9,"subscribers_count":9,"default_branch":"main","last_synced_at":"2025-06-12T09:28:00.886Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mpl-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/idiap.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-12-14T12:50:39.000Z","updated_at":"2025-06-12T08:15:09.000Z","dependencies_parsed_at":"2024-01-13T16:23:31.309Z","dependency_job_id":"ede7b9ce-c2e9-479a-8902-cbcfbf42a49f","html_url":"https://github.com/idiap/gafro","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/idiap/gafro","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/idiap%2Fgafro","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/idiap%2Fgafro/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/idiap%2Fgafro/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/idiap%2Fgafro/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/idiap","download_url":"https://codeload.github.com/idiap/gafro/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/idiap%2Fgafro/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266640796,"owners_count":23960805,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-23T02:00:09.312Z","response_time":66,"last_error":null,"robots_txt_status":null,"robots_txt_updated_at":null,"robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-04T10:01:11.215Z","updated_at":"2025-07-23T08:05:32.156Z","avatar_url":"https://github.com/idiap.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# Geometric Algebra For RObotics\n\n![Github actions status](https://github.com/idiap/gafro/actions/workflows/build.yaml/badge.svg)\n![Gitlab status](https://gitlab.com/gafro/gafro/badges/main/pipeline.svg?ignore_skipped=true\u0026key_text=Gitlab%20build\u0026key_width=80)\n\nThis 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.  \n\nPlease visit https://gitlab.com/gafro in order to find the entire *gafro* software stack.\n\n## Installation\n\n\tmkdir build \u0026\u0026 cd build\n\tcmake ..\n\tmake\n\tsudo make install\n\n## Usage\n\ngafro can be used either standalone or within a catkin workspace. In both cases it can be used in a CMakeLists.txt as follows:\n\n\tfind_package(gafro REQUIRED)\n\t\n\ttarget_link_libraries(target gafro::gafro) \n\n## Background\n\nYou can find the accompanying article [here](http://arxiv.org/abs/2212.07237) and more information on our [website](https://geometric-algebra.tobiloew.ch/). \n\n## How to cite\n\nIf you use *gafro* in your research, please cite the\n\n\t@article{loewGeometricAlgebraOptimal2023,\n\t  title = {Geometric {{Algebra}} for {{Optimal Control}} with {{Applications}} in {{Manipulation Tasks}}},\n\t  author = {L\\\"ow, Tobias and Calinon, Sylvain},\n\t  date = {2023},\n\t  journal = {IEEE Transactions on Robotics},\n\t  doi = {10.1109/TRO.2023.3277282}\n\t}","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fidiap%2Fgafro","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fidiap%2Fgafro","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fidiap%2Fgafro/lists"}