Eigen · SE(3) Data Structure
Nov 9, 2024
Some brief notes for quick reference. A light-wight $SE(3)$ data structure.
Model Predictive Control via Quadratic Programming
Nov 2, 2024
Preface Model predictive control (MPC) is a popular control technique. It computes an optimal control input by taking into consideration the system dynamics from its current state to certain steps in the...
Numerical Integration via Runge-Kutta
Oct 19, 2024
Preface Numerical methods are commonly employed in controls practice to integrate dynamical systems. For systems that can be modeled by ordinary differential equations (ODEs), the 4th order Runge-Kutta Method is known for...
Eigen · Rn and Spatial Motion Vector Saturation
Sep 28, 2024
Some brief notes for quick reference. The Saturation Set algorithms for $\mathbb{R}^n$ and $\mathsf{M}^6$ vectors.
Toolbox · Yaml Reader
Aug 31, 2024
Some brief notes for quick reference. A quick YAML reader via yaml-cpp and MACRO techniques.