EXOTica

EXOTica was originally conceived and developed in the SLMC lab at the University of Edinburgh. It is now used across a variety of research labs.

Getting started

• Installing EXOTica
• EXOTica overview

Basics

In this section, we will explore the basics of setting up and using EXOTica with the included KUKA LWR_Simplified robot.

• Quickstart: Python
• Quickstart: C++
• Solving planning problems in C++

Advanced

In the advanced section, we look at different methods of initializing EXOTica and using it with your own robot.

• Creating a planner package for your own robot
• Initialization
• Manual Initialization
• XML Initialization
• XML Parsing
• Common Initialization Step
• Setting up ROSlaunch
• Setting up Problems and Solvers
• Task space vector handling
• Visualisation

Core Components/Concepts

• Initializers
  • Creating a core class
  • Creating specialized initializers
  • Initializing EXOTica
• Task Maps
  • Initializing task maps
  • Using Task Maps

Additional Information and APIs

• Code Formatting
• Code Styleguide and Naming Convention
  • Packages, files and directories
  • C++
  • Python
• Python Bindings
• Doxygen C++
• Documentation
  • C++ API Documentation