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Getting Started

  • Installation and Configuration
    • Dependencies
      • Installing the dependencies
    • Installing ORCA
    • Testing your installation
    • What’s next?
  • Where to go from here?
    • Check out the examples
    • Want to use ORCA in you project?
    • Check out the API Documentation
    • ROS or OROCOS user?
  • API Reference
    • API Documentation
  • Building the documentation
    • How to build
      • Python dependencies
      • Doxygen
      • Building the docs with Sphinx
      • How to browse
  • Using ORCA in your projects
    • CMake
    • catkin

Examples

  • Basic
    • Simple controller
    • Simulating the controller performance
  • Intermediate
    • An introduction to the ORCA callback system
    • Using lambda functions in the callbacks
  • Gazebo
    • Simulating a single robot
    • Simulating multiple robots
    • Set robot state
    • Set robot state with gravity compensation
    • Using Gazebo to simulate an ORCA controller
    • Minimum jerk Cartesian trajectory following
  • Plotting
    • Using the internal plotting tools

Controller Formulation

  • Overview
  • Optimization Vector
  • Cartesian Acceleration
  • Dynamics Equation

License Information

  • License
ORCA
  • Docs »
  • Basic
  • Edit on GitHub

Basic¶

  • Simple controller
  • Simulating the controller performance

Intermediate¶

  • An introduction to the ORCA callback system
  • Using lambda functions in the callbacks

Gazebo¶

  • Simulating a single robot
  • Simulating multiple robots
  • Set robot state
  • Set robot state with gravity compensation
  • Using Gazebo to simulate an ORCA controller
  • Minimum jerk Cartesian trajectory following

Plotting¶

  • Using the internal plotting tools
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