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Endorob
1.4
A C++ Robotics library by P. Berthet-Rayne
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Endorob
1.4
A C++ Robotics library by P. Berthet-Rayne
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This robotics C++ library allows you to implement and control your own robots.
It is designed to be used in a similiar way as the Matalb robotics toolbox from P. Corke and was initially inspired from ERL (G. Gras and K. Leibrandt).
All the linear algebra depends on the Eigen c++ library that you will need to download and install first.
EndoRob uses the well know standard and modified DH table convention to create your robot.
Many functions are implemented to allow you to do forward kinematics, inverse kinematics using various iterative solvers, full-body inverse kinematics, teleoperation, etc.
EndoRob is a multi-thread library with each thread being assigned to a different CPU (Linux version under development).
EndoRob is intended to be cross platform and was deleveloped in a Windows environment.
The source can be downloaded from here: https://gitlab.doc.ic.ac.uk/ptb14/robolib
EndoRob uses some C++11 features, so make sure your compiler is compatible.
If you are using Qt creator, just include the EndoRob.pri file and make sure the path to the Eigen library is correct.
A makefile is also available.
If you use any other IDE, OS, etc, just include EndoRob.h and EndoRob.cpp, make sure to update the path to the Eigen library.
The main class and functions description is availabe here: Endorob
The file hello_world.cpp is a good place to start to understand how to use the library!
If you use EndoRob in your project, please cite as follow:
@MISC{ endorob, author = {P. Berthet-Rayne}, title = {EndoRob, a multi-thread cross-platform library for endoscopic robot control}, howpublished = {\url{http://takskal.free.fr/EndoRob/}}, year = {2018} }
If you have any questions or need help to use EndoRob, contact me a pbr.emploi [at] gmail.com
Special Thanks to:
In the near future, I will add the following features to EndoRob:
1.8.16 
