Kinematic models for differential-drive, bicycle (Ackermann), and articulated vehicles. Three self-contained projects:
| Project | What it is | Built with |
|---|---|---|
| polymath_kinematics | C++17 models and projectors, with pybind11 bindings | colcon, or a wheel |
| polymath_kinematics_python_tools | Kinematic Explorer — Streamlit app, simulation, plotting, export | uv |
| polymath_kinematics_ros2 | ROS 2 layer — placeholder, no interfaces yet | colcon |
The repository root is a uv workspace, so one sync covers both Python projects.
uv sync
uv run kinematic-explorercolcon build --packages-select polymath_kinematics polymath_kinematics_ros2
colcon test --packages-select polymath_kinematics polymath_kinematics_ros2cmake -S polymath_kinematics -B build -DBUILD_TESTING=ON \
-DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=ON
cmake --build build -j && ctest --test-dir build --output-on-failure