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Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
| Date | Stars |
|---|---|
| 2026-07-24 | 498 |
| 2026-07-25 | 498 |
| 2026-07-28 | 498 |
| 2026-07-30 | 498 |
| 2026-08-06 | 498 |
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<h1 align="center">
<a href="https://github.com/giacomo-b/CppRobotics"><img src="https://github.com/giacomo-b/CppRobotics/blob/master/documentation/logo.png" alt="CppRobotics" width="300"></a>
<br>
C++ Robotics
</h1>
<h4 align="center">A header-only, fully-templated C++ library for control algorithms.</h4>
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alt="Tokei">
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</p>
<!-- [](https://codecov.io/gh/giacomo-b/CppRobotics) -->
<p align="center">
<a href="#goals">Goals</a> •
<a href="#requirements">Requirements</a> •
<a href="#getting-started">Getting Started</a> •
<a href="#features">Features</a> •
<a href="#todos">TODOs</a> •
<a href="#references">References</a>
</p>
---
## Goals
C++ Robotics has the following goals:
* Implement as many robotics algorithms as possible, without sacrificing quality. These include, e.g., control, path planning, and estimation algorithms.
* Be easy to use and to get started with, thus the header-only format and minimal external dependencies.
* Be fast: by making use of templates, most algorithms use static-size data structures whose size is known at compilation time.
This project is inspired by [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics). Instead of being just an educational repo, this library aims at implementing fast algorithms with a consistent API, to guarantee runtime performance and ease of use.
While this is still a work in progress, I would appreciate it if you left any suggestions or starred the repo. Any help is greatly appreciated!
---
## Requirements
* C++11 compiler
* CMake 3.14+ (if using Visual Studio on Windows you should be able to import the project as a CMake project)
* The C++ dependencies will be obtained automatically by [CPM.cmake](https://github.com/TheLartians/CPM.cmake). Note that the library only depends on `Eigen`, but `matplotplusplus` is used in the `examples` folder to plot the results.
---
## Getting started
Following are some examples to get started. The `examples` folder contains several examples that are useful to get started.
CppRobotics aims to be modular, which means:
* Once you define a dynamical system, most algorithms will be readily available for it to use
* Data should flow seamlessly between objects (e.g. estimator -> controller)
* Once you setup an algorithm, you should be able to change the dynamical system and integrate it directly
### Clone this repo
> git clone <https://github.com/giacomo-b/CppRobotics.git>
### Building and running the examples
Given a generic `EXAMPLE` that you want to run, the following commands build it:
```bash
cmake -S examples/EXAMPLE -B build/EXAMPLE
cmake --build build/EXAMPLE
```
On Windows, this will default to a Debug configuration. To build the project in release mode, you can add `--config=Release` after the first command.
To run the example on Linux, macOS, and most Unix-based systems:
```bash
./build/EXAMPExcerpt of 9,548 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:8c3faa9e02044554, topic:robotics, topic:autonomous-driving, topic:slam