{"repo":"symforce-org/symforce","free":true,"listed":false,"github":"https://github.com/symforce-org/symforce","clone":"git clone https://github.com/symforce-org/symforce.git","description":"Fast symbolic computation, code generation, and nonlinear optimization for robotics","language":"C++","stars":1631,"topics":["robotics","python","cpp","code-generation","optimization","symbolic-computation","slam","computer-vision","motion-planning","structure-from-motion"],"license":"Apache-2.0","category":"dev-tools","readme_excerpt":"--- SymForce is a fast symbolic computation and code generation library for robotics applications like computer vision, state estimation, motion planning, and controls. It combines the development speed and flexibility of symbolic mathematics with the performance of autogenerated, highly optimized code in C++ or any target runtime language. SymForce contains three independently useful systems: + Symbolic Toolkit - builds on the SymPy API to provide rigorous geometric and camera types, lie group calculus, singularity handling, and tools to model complex problems + Code Generator - transforms symbolic expressions into blazing-fast, branchless code with clean APIs and minimal dependencies, with a template system to target any language + Optimization Library - a fast tangent-space optimization library based on factor graphs, with a highly optimized implementation for real-time robotics applications SymForce automatically computes tangent space Jacobians, eliminating the need for any bug-prone handwritten derivatives. Generated functions can be directly used as factors in our nonlinear optimizer. This workflow enables faster runtime functions, faster development time, and fewer lines of handwritten code versus alternative methods. SymForce is developed and maintained by Skydio. It is used in production to accelerate tasks like SLAM, bundle adjustment, calibration, and sparse nonlinear MPC for autonomous robots at scale. Features + Symbolic implementations of geometry and camera ty","default_branch":null,"files":null,"tree":[],"storefront":"/r/symforce-org","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/symforce-org/symforce/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}