This is the source code repository of the Kin-Gen tool(chain), a kinematics code generator developed by KU Leuven in the context of the ESROCOS project.
Kin-Gen generates code (C++, Python, Julia) for forward and inverse kinematics solvers for articulated robots.
Given a robot model and a user request, the "ILK Generator" generates a model of the requested kinematics solver, independent of programming language or computational hardware ("ILK" stands for Intermediate Language for Kinematics). Afterwards, this model can be compiled by the "ILK Compiler" into actual code (C++, Python, Julia) that can be used on the target platform.
Please also refer to the readme files of the two main components of the tool,
ilk-generator/readme.md and ilk-compiler/readme.md. These files contain
building and usage instructions.
The scripts in this folder, ilk-generator.sh and ilk-compiler.sh, are
provided for convenience. Please set the following environment variables for
their correct execution:
export KIN_GEN_ROOT=<full absolute path to this folder>
export PATH=$PATH:$KIN_GEN_ROOT
Please refer to the following conference paper:
Marco Frigerio, Enea Scioni, Pawel P. Pazderski and Herman Bruyninckx, "Code Generation from Declarative Models of Robotics Solvers", in Third IEEE International Conference on Robotic Computing (IRC), 2019, pp. 369-372.
Available here
Copyright © 2019-2020, KU Leuven Robotics Group
Released under the BSD 2-clause license. See the LICENSE file for additional
information.