broccoli: Beautiful Robot C++ Code Library

Broccoli is a generic C++ header-only library for common algorithms used in robotics. It puts special emphasis on real-time capability, speed, and portability to real-time operating systems. The main motivation behind the development of broccoli is code reuse between robotic projects at the Chair of Applied Mechanics, TUM. Some parts of broccoli originate from the source code of the Lola Humanoid Robot project. Broccoli is not a complete robotics ecosystem (such as ROS); instead it is meant to provide a set of independently usable modules for rapid prototyping in robotic research projects. This work was supported by the German Research Foundation (DFG). Release v3.1.0

Broccoli是一款面向机器人学常用算法的通用C++仅头文件库，该库特别注重实时性、运行效率以及对实时操作系统的可移植性。Broccoli的开发初衷源于慕尼黑工业大学（Technische Universität München, TUM）应用力学教席旗下各机器人项目间的代码复用需求，其部分代码源自Lola人形机器人项目的源码。Broccoli并非完整的机器人生态系统（如ROS），而是专为机器人研究项目的快速原型开发提供一组可独立使用的模块化组件。本项目得到德国研究基金会（Deutsche Forschungsgemeinschaft, DFG）的资助，当前已发布v3.1.0版本。