nash169 / geometric-control

Differential geometry applied to task/configuration space control.

Geometric Control

geometric-control uses Visitor Pattern with Variadic Template meta-programming strategy to generate an automatic sequence of connections' pullback, alias unconstrained inverse dynamics, across manifolds. It generates tree structures where each is node is a different manifold. The edges connecting nodes corresponds to maps across manifolds and they are parent/child node specific. The leaf nodes consist of specific manifolds on which a connection (or covariant derivative) defines a ``task'', alias second-order DS accomplishing a specific goal.

At runtime all the connections are automatically pulled-back towards the root node generating an overall second-order DS encoding complex and various motions. Multi-threading and templated structure allows for high modularity while maintaining operating frequencies above 1000Hz for the majority of the tasks.

Tensor support

• https://scicomp.stackexchange.com/questions/11276/fast-lightweight-c-tensor-library-for-dimension-agnostic-code
• steven-varga/h5cpp#44
• https://romanpoya.medium.com/a-look-at-the-performance-of-expression-templates-in-c-eigen-vs-blaze-vs-fastor-vs-armadillo-vs-2474ed38d982
• https://stackoverflow.com/questions/40829887/how-do-i-do-outer-product-of-tensors-in-eigen/49299922
• http://eigen.tuxfamily.org/dox-devel/unsupported/eigen_tensors.html