TetraPGA-preview

A header-only C++ library for PGA-based robot kinematics, dynamics, and collision-aware computations. [Preview Version]

Contents

• include/TetraPGA: Public headers
• Robot descriptions: external assets from Chen-WH/robot-assets
• test: Regression-style executable tests
• benchmark: Performance benchmarks against reference implementations

Build

Robot descriptions come from Chen-WH/robot-assets and are expected at ../robot-assets by default. Set TETRAPGA_ROBOT_ASSETS_DIR for another checkout.

cmake -S . -B build -DTETRAPGA_BUILD_TESTS=ON
cmake --build build -j4
ctest --test-dir build --output-on-failure

To build benchmarks:

cmake -S . -B build-bench -DTETRAPGA_BUILD_TESTS=OFF -DTETRAPGA_BUILD_BENCHMARKS=ON
cmake --build build-bench -j4
taskset -c 2 ./build-bench/TetraPGA_*_bench # 单线程 benchmark

Dependency Modes

TetraPGA can be consumed in two ways:

• as an installed package via find_package(TetraPGA CONFIG REQUIRED)
• as source via add_subdirectory(...)

The exported CMake package configuration is generated from cmake/TetraPGAConfig.cmake.in.