https://github.com/idiap/gafro

An efficient c++ library targeting robotics applications using geometric algebra
https://github.com/idiap/gafro

Last synced: 11 months ago
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An efficient c++ library targeting robotics applications using geometric algebra

• Host: GitHub
• URL: https://github.com/idiap/gafro
• Owner: idiap
• License: mpl-2.0
• Created: 2022-12-14T12:50:39.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2025-06-12T08:15:04.000Z (about 1 year ago)
• Last Synced: 2025-06-12T09:28:00.886Z (about 1 year ago)
• Language: C++
• Size: 755 KB
• Stars: 79
• Watchers: 9
• Forks: 9
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Geometric Algebra For RObotics

![Github actions status](https://github.com/idiap/gafro/actions/workflows/build.yaml/badge.svg)

![Gitlab status](https://gitlab.com/gafro/gafro/badges/main/pipeline.svg?ignore_skipped=true&key_text=Gitlab%20build&key_width=80)

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.

## Installation

	mkdir build && cd build

	cmake ..

	make

	sudo make install

## Usage

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) 

## Background

You can find the accompanying article [here](http://arxiv.org/abs/2212.07237) and more information on our [website](https://geometric-algebra.tobiloew.ch/). 

## How to cite

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}

	}