PINS¶
PINS Frameworks¶
Core
Core routine used by PINS, in particular
Optimized dynamic allocations
Nonlinear solver and minimizer
Regularized function
Penalty and barrier functions
Mesh and Path2D
ODE
Solvers for ordinary differential equations with step adaptation and error estimation. Implemented algorithm:
Dormand and Prince of order 5
Dormand and Prince of order 853
Radau 5
Manufactoring
Classes for support in manufactoring optimization
ToolPath1D
ToolPath2D
Road
Classes for modeling clothoid based road
Road2D
Road3D
Vehicle
Classes for modeling vehicle
Tyre Pacejka
Engine
Solver
Solver for discretized Optimal Control Problem.
Interface MRuby
Support code for interfacing with MRuby.
Interface Lua
Support code for interfacing with Lua.
Interface Matlab
Support code for interfacing with Matlab.
Support software included in Mechatronix Core¶
Splines
A set of C++ classes with MATLAB mex interface which implements many spline interpolation tasks.
Clothoids
G1 and G2 fitting with clothoids, spline of clothods, circle arc and biarc
GenericContainer
A C++ class that permit to store eterogeneous data with C, LUA, MATLAB, RUBY, JSON interface. Permits easy exchange of data between C++ and scripting languages.
Polynomial Roots
Port to C++ of the algorithm of Norbert Flocke for polynomial roots up to degree 4. Also Jenkins-Traub real polynomial root finder is ported but is experimental for the moment.
Utils
A set of utilities for easy C++ development.
Malloc class
Console class with terminal coloring
TicToc for timing code
Thread Pool class
Lapack Wrapper
A C++ wrapper that simplify interfacing with (a subset) of lapack routines (both low level and high level classes).
Main developers¶
Enrico Bertolazzi (, personal homepage)
Francesco Biral ()
Contributors¶
Paolo Bosetti, MRuby support, ()