lebai-motion-controller

Overview

This library is a optimize and rewrite of old lebai control algorithm library, which is not well designed:

1. Mix everything into one single file.
2. Conflict coding style.
3. Wrong abstraction and bad interface design.
4. Insufficiency of unit test.
5. Lack of document.

The library interface is written in pure C.(Althrough The implementation parts is written in C++) The library provides functionality to do the core motion control of lebai robotics. For any other language(Rust, python), you can simply use language binding to call these function directly since C is mostly used and supported system language.

Look at overview to get an detailed overview of lebai-motion-control library.

ChangeLog

Look at ChangeLog.

Start here

To starting compile and install this project, please look at 构建开发环境

Examples

Look at API usage examples.

All supported robot models

Look at all_supported_robot_models.

Link lib in rust project.

println!("cargo:rustc-link-lib={}", "lebai_motion_control_overall");
println!("cargo:rustc-link-lib=dylib=stdc++");
println!("cargo:rustc-link-search=native={}", "dir_path_to_your_lib")

Using SI unit system

All the code and APIs are using SI system.

Quantity	Unit Name	Synbol
Length	Metre	m
Mass	Kilogram	kg
Time	Second	s
Electric Current	Ampere	A
Thermodynamic Temerature	Kelvin	K
Luminous Intesity	Candela	cd
Amount of Substance	Mole	mol
Plane Angle	Radian	rad
Solid Angle	Steradian	sr
Velocity	Metre/Second	m/s
Angular Velocity	Radian/Second	rad/s
Froce	Newton	N(kg*m/s^2)
Moment of Force	Newton Metre	Nm