This repository contains Exp[licit]-cpp -- a software to control robots via C++. For now, only the LBR iiwa R820 (iiwa14) is supported. Other robots will be supported soon.
The current version is in active development, i.e., might be unstable. A formal announcement will be made once the first stable version of Exp[licit]-cpp is complete. For vector and matrix calculations, we use Eigen version 3.4.0, which is added as a git submodule.
This software was developed by Moses Chong-ook Nah and Johannes Lachner, working in the Newman Laboratory for Biomechanics and Human Rehabilitation at MIT.
Detailed documentation of the software can be checked here.
The software is licenced by MITs and and it's intended use is for academic and/or non-profit internal research purposes. The licence can be found in our repository.
If you are interested in the MATLAB version of this software, check out Explicit-MATLAB.