hddc2b is a C library that provides building blocks (2b) for solving planar, two-dimensional kinematics and statics problems of mobile robots that feature a hub-drive with differential-castor (HDDC) kinematics configuration such as the KELO Robotics platforms.
The library is complemented by a code generator that composes these building blocks into a wide range of concrete solvers as specified via a JSON-based configuration language.
By design, hddc2b only supports two levels of task hierarchy and deliberately excludes a velocity distribution solver.
The library is directly compatible with the data structure layout of the KELO Robotics interface provided by the robif2b library.
More details of HDDC platforms and their integration into overall robot control architectures are also explained in this online book.
The documentation comprises
- the installation instructions
- code generator instructions
- a mathematical derivation of the solvers
- a frame diagram for KELO robots
- an example that showcases how to use the solver.
CodeCoverage.cmakeis licensed under the BSD-3-Clause license and originates from Lars Bilke's project Additional CMake Modules.FindSphinx.cmakeis licensed under the BSD-3-Clause license and originates from Jeroen Koekkoek's project Sphinx integration for CMake.
The core hddc2b library is licensed under the GNU Lesser General Public License v3.0 only (see LICENSE.LGPL-3.0)
The code generator is licensed under the MIT No Attribution (see LICENSE.MIT-0) License.
Effectively that means you can link against the core library from free or proprietary applications.
Only when you modify the core library, these changes must be released under the conditions of the LGPL-3.0.
Additionally, you can modify or reuse everything related to the code generator without even acknowledging hddc2b.
This work is part of a project that has received funding from the European Union's Horizon 2020 research and innovation programme SESAME under grant agreement No 101017258.