libSOC Stochastic Optimal Control Library
نویسنده
چکیده
The secondary scope of this lib is a robot simulator (namespace ors) that provides the necessary inputs to the methods above. Using this simulator is optional – it is provided only for completeness of the lib (and I use it in my work). But all the methods above can also be linked to your own simulation environment. My ors imlementation tries to be minimalistic in its core, but can link to many conventient external libraries and engines: it defines basic data structures to describe robot configurations (trees/graphs of rigid bodies), implements the basic computation of kinematic/Jacobian/Hessian functions, and of course implements the SocAbstraction. It uses:
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تاریخ انتشار 2009