# Presentation of the github repository

Here are all the repository I work(ed) on with a brief abstract. Click on the see more to have deeper informations.

# pygen-converter

pygen-converter is a tool that allows implicit conversions between C++ Eigen library and Python Numpy library. This is an header only library that can provide both Eigen global typedefs (e.g. MatrixXd, Vector3i, ArrayXXf, …) and user-defined typedefs. (see more)

# wrench-cone-lib

This library computes a multi-contacts wrench cone. It can compute the rays (the $\mathcal{V}$-representation) of the polyhedral cone and can find the halfspaces (the $\mathcal{H}$-representation) by using the double description algorithm. This lib is based on Fukuda’s cdd lib and threadsafe wrapper of it for eigen. (see more)

# Copra

This is library has been developed to answer to the model preview control problem. It solves discrete systems using a QP solver. The library has been design to be fast and user-friendly. Python bindings are also provided. It is also my first big library! In this article i will describe to what a mpc is made for, why you should use it and how. (see more)