Back to Basics: Templates Part 2 These are my notes from the second part of Andreas Fertig ‘s talk from CppCon 2020 titled “Back to Basics: Templates”. Variadic Templates Variadic templates al...

Back to Basics: Templates Part 1 These are my notes from Andreas Fertig ‘s talk from CppCon 2020 titled “Back to Basics: Templates”. Introduction Generic programming involves writing algorithm...

Back to Basics: Concurrency These are my notes from Arthur O’Dwyer’s talk from CppCon 2020 titled “Back to Basics: Concurrency”. Thread-safe static initialization Since C++11, the initializati...

How are executables made? The process of creating an executable can be broken down into a compiling and a linker stage. The stages of compiling are: pre-processing linguistic analysis ass...

Virtual Destructors As a general rule of thumb you should always make the destructor of your base class virtual. Why is that? Consider the following piece of code which defines a Base and a Deriv...

Unscented Kalman Filter The unscented transform can be briefly summarized in 3 steps: Draw N deterministic samples from an input PDF. Transform these samples through a nonlinear function. ...

This posts outlines an example of localization using an EKF filter. The model is based on a Python implementation by AtsushiSakai on Github. Implementation. Extended Kalman Filter The kalman fi...

The methods outlined in this post are based on the following paper: State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments State Latti...

In this post we will be creating a simplified example of the trajectory generation method outlined in “Optimal rough terrain trajectory generation for wheeled mobile robots” by Thomas M. Howard a...

In this post we will be going over a simple MPC Controller for 2D path tracking in a robot that uses the bicycle model. This post complements an implementation of MPC I made in my LearnRoboticsC...