CppRoboPlan is a modern C++ educational motion planning library designed for robotic manipulator applications.
It is authored and maintained by Prajwal Thakur.
It provides fundamental tools for building planning pipelines, including configuration space modeling, collision checking, and both roadmap- and sampling-based planners.
The goal of CppRoboPlan is to offer a fast, modular, and lightweight educational and prototyping alternative to existing robotics planning frameworks, written entirely in C++ with CMake-based builds.
⚡ Emphasis on Educational and Prototyping: The methods provided here may not represent the most optimized or production-ready implementations. Instead, the library serves as a playground for roboticists to rapidly prototype planning and control methods with minimal external package dependencies.
Acknowledgmentst :
This project is inspired by pyroboplan , created by Sebastian Castro, with the goal of building a C++ mirror. Many ideas and references are drawn from pyroboplan, and I am thankful to Sebastian for making it available as an open-source project.
CppRoboPlan also makes use of the excellent Pinocchio library for efficient kinematics and dynamics computations in robotics, and Drake for Meshcat-based visualization.
Installation and Documentation
For installation instructions and full documentation, please refer to the Project Website.
Demo video
You may download the videos Example from /assets/video
RRT Connect Demo ( examples/RRTConnectPlanner/main.cpp )
Differential Inverse Kinematics Example (examples/InverseKinematics/main.cpp)
ToDO:
- The next release will remove the redundant use of std::vector with Eigen matrices and vectors.
<img src="https://raw.githubusercontent.com/devicons/devicon/master/icons/github/github-original.svg" width="25"/> Author & Maintainer
CppRoboPlan is developed and maintained by Prajwal Thakur.
If you use this library or build upon it, please consider citing or acknowledging the project.
Contributions and suggestions are welcome — feel free to open an issue or pull request.
