This page briefly presents code libraries and scripts that I have written. As usual, use at your own peril :-)


nuklei logo

Nuklei is a C++ library that implements kernel methods for SE(3) data. Nuklei provides kernel functions for SE(3) data, algorithms for kernel density estimation, and two-class nonlinear classification of SE(3) data via kernel logistic regression. Nuklei also provides tools for 3D object pose estimation, for manipulating SE(3) transformations, and for manipulating point clouds.

Template Range Sampling Library↑top

trsl logo

TRSL is a C++ library that implements several sampling schemes behind an (STL-like) iterator interface. The library may be used e.g. in particle filtering or probabilistic inference frameworks.

I am currently the one (and only) developer of TRSL. Anyone interested is warmly welcome to help!

Teaching/Learning Robotics with a Simulator↑top

TRS is an open-source recipe for organizing a master-level robotics project, that I created while building INFO0948 at the University of Li├Ęge.


TRS relies on a cross-platform robot development and simulation environment that can be installed in five minutes and that allows students to write control, navigation, vision or manipulation algorithms in a hundred lines of Matlab or Python code. TRS contains a project structure (documentation, objectives, milestones), and the software skeleton for running the project (simulator models, Matlab code examples, install instructions). It is freely available and extendable.


After adding this function to your .bashrc, calling add_usr /path/to/new/usr will update environment variables to indicate development tools that software is installed in /path/to/new/usr. For example, if you don't have write access to /usr/local, you usually install libraries e.g. to $HOME/usr (e.g. with ./configure --prefix=$HOME/usr). Typing add_usr $HOME/usr either interactively or in your .bashrc will update your PATH with $HOME/usr/bin, and will make configure scripts, cmake, and other build tools look in $HOME/usr/include for headers, $HOME/usr/lib for libraries, etc.

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