IKFoM Designer (ikfmd)

Introduction

This is a small Python package that could be helpful for designing an IKFoM. What it does is simple: it leverages CasADi's symbolic framework to model the system and its AD (auto differentiation) engine to calculate the Jacobian matrices required by the IKFoM toolkit.

Installation

This package can be installed with pip: clone this repo and run pip install . at the repo root or simply:

pip install git+https://github.com/ErcBunny/IKFoM-Designer.git

Usage

An example can be found in the tests directory and the code is self-explanatory.

In short, the user should implement a child class derived from the base class BaseDesigner by implementing all abstract methods, then call the generate_code. The user should expect generated code at the scripts runtime directory.

from ikfmd import BaseDesigner

class Designer(BaseDesigner):
    # implement abstract methods
    pass

designer = Designer(
    "gen",
    dict(cpp=True, with_header=True, main=False, verbose=True, with_mem=False),
    True,
)
designer.print_expr()
designer.print_func_io()
designer.generate_code()

The generated code needs no dependency to build. An example of using the code with IKFoM can be found in this repo: https://github.com/ErcBunny/IMU-IKFoM.