multicalc-rust
https://github.com/kmolan/multicalc-rust
Rust
Scientific computing that fits on a microcontroller. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe. Run the same code on your laptop and your Cortex-M0.
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Help out
- Issues
- Add null-space redundancy resolution for inverse kinematics
- Add condensed linear MPC with input constraints
- Add a MuJoCo simulation wrapper crate
- Add no_std MLP inference for learned policies
- Add contact and friction dynamics with whole-body control
- Bounds-check `Jet::coefficient`/`Jet::derivative`
- Make the SVD sweep budget configurable
- Strengthen the matrix-exponential scheme
- Add a non-finite guard to `Rk4`
- Even out conversions and operators on the spatial types
- Docs
- Rust not yet supported