CoreRobotics is an object-oriented C++ cross-wrapper and cross-platform library for real-time robot control. The CoreRobotics libraries were developed in an effort to provide generalized implementations of algorithms facilitating rapid development of real-time robot control. CoreRobotics utilizes an object-oriented approach in C++ to implement fast cross-platform thread management and timing, core math solvers, manipulator control, and trajectory shaping, and modeling for state estimation. CoreRobotics was developed in the Department of Mechanical Engineering at the University of Washington, Seattle.

The source code development is hosted publicly at https://gitlab.com/powan/CoreRobotics. If you would like to contribute, please request access through Gitlab.