This is a git repository storing all the tests, demos that I implemented.

TOPP FOR RIGID-BODY MOTIONS. This library includes tools to plan fast trajectories on the the space of rotation matrices SO(3) and the space of three-dimensional rigid body motions SE(3) under kinodynamic constraints (bounds on angular velocities, accelerations and torques) in a cluttered environment. Please follow the link below for the paper and installation instruction:

https://github.com/dinhhuy2109/TOPP-SO3

This implementation is for touch-based object estimation using Particle Filter.