The comprehensive motion algebra (COMA) library is a header-only c implementation of the Comprehensive Motion Transformation Matrix (CMTM) along the needed lie algebra tools.

1. Installation
2. Performance
3. Reference

Currently, you can only download it from github. As a header-only library, one way to use the lib is to copy-paste the include directory. Otherwise, you can proceed as follow.

To compile you need the following tools:

• Git
• CMake >= 3.8.2
• doxygen
• g >= 8.3 (for C 17 support)
• Eigen >= 3.2

For benchmarks:

• benchmark

git clone --recursive https://github.com/vsamy/coma
cd coma
mkdir build
cd build
cmake [options] ..
make -j8 && make install

You can set BUILD_TESTING to ON/OFF to enable/disable test building. You can set BUILD_EXAMPLE to ON/OFF to enable/disable example building. You can set BUILD_BENCH to ON/OFF to enable/disable benchmark building.

Here are some benchmarks made with google benchmarks and a [email protected]. GCC and Clang tests have been made under WSL2.

The next graph is a multiplication between two CMTM. Static corresponds to CMTM<double, 6, order> and dynamic to CMTM<double, 6, coma::Dynamic>.

The next graph is a multiplication between two CMTM that also consider the construction of the two CMTM matrices and the deconstruction of the result. Static corresponds to CMTM<double, 6, order> and dynamic to CMTM<double, 6, coma::Dynamic>.

Related paper can be found here

Citation

@inproceedings{samy2021generalized,
  title={Generalized Comprehensive Motion Theory for High-Order Differential Dynamics},
  author={Samy, Vincent and Ayusawa, Ko and Yoshida, Eiichi},
  journal={Robotics: Science and Systems XVII},
  year={2021}
}