GAFRO

GAFRO (Geometric Algebra For Robotics) is a high-performance C++20 library designed for robotics applications using geometric algebra. The library provides efficient implementations of conformal geometric algebra with optimized algorithms for kinematics and dynamics calculations of serial kinematic chains

Features

• Efficient implementation of conformal geometric algebra
• Exploits sparse structure of algebra for optimization
• Expression templates for compile-time optimization
• Algorithms for kinematics calculations of serial kinematic chains
• Algorithms for dynamics calculations of serial kinematic chains
• Performance advantages over state-of-the-art robotics libraries
• Modern C++20 implementation
• Header-only or compiled library option

License and Distribution

License Type: Mozilla Public License v2 (MPL2)

Distribution: Open source software available through GitLab

Repository: https://gitlab.com/gafro

Note: The MPL2 license ensures that GAFRO remains free and open source. Any derivative works must also be distributed under

Dependencies: Eigen, for linear algebra operations