This page briefly presents code libraries and scripts that I have written. As usual, use at your own peril :-)
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.
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!TRS is an open-source recipe for organizing a master-level robotics project, that I created while building INFO0948 at the University of Liège.
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.
.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.