huaileitang / kin-gen

The kinematics code generator by KUL - git superproject of the different components

This is the source code repository of the Kin-Gen tool(chain), a kinematics code generator developed by KU Leuven in the context of the ESROCOS project.

Description

Kin-Gen generates code (C++, Python, Julia) for forward and inverse kinematics solvers for articulated robots.

Given a robot model and a user request, the "ILK Generator" generates a model of the requested kinematics solver, independent of programming language or computational hardware ("ILK" stands for Intermediate Language for Kinematics). Afterwards, this model can be compiled by the "ILK Compiler" into actual code (C++, Python, Julia) that can be used on the target platform.

Please also refer to the readme files of the two main components of the tool, ilk-generator/readme.md and ilk-compiler/readme.md. These files contain building and usage instructions.

The scripts in this folder, ilk-generator.sh and ilk-compiler.sh, are provided for convenience. Please set the following environment variables for their correct execution:

export KIN_GEN_ROOT=<full absolute path to this folder>
export PATH=$PATH:$KIN_GEN_ROOT

Citing the software

Please refer to the following conference paper:

Marco Frigerio, Enea Scioni, Pawel P. Pazderski and Herman Bruyninckx, "Code Generation from Declarative Models of Robotics Solvers", in Third IEEE International Conference on Robotic Computing (IRC), 2019, pp. 369-372.

Available here

License

Copyright © 2019-2020, KU Leuven Robotics Group

Released under the BSD 2-clause license. See the LICENSE file for additional information.