Model-based design and verification for robotics.

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained …

A lightweight high performance tensor algebra framework for modern C++

An open-source library for mathematical programming

Automatic parallelization of Python/NumPy, C, and C++ codes on Linux and MacOSX

Lie theory for robotics

Source Code Generation for Automatic Differentiation using Operator Overloading

Manifold geometry with fast automatic derivatives and coordinate frame semantics checking

SWIG is a software development tool that connects programs written in C and C++ with a variety of high-level programming languages.

libForBES is a C++ solver for generic, constrained and possibly nonsmooth convex optimization problems. LASSO, optimal control, elastic net, SVM and many more can now be solved with a single effici…

Parallel quadratic programming solver for optimal control