In this page you can download the binary distribution of RobCoGen.

Binary means that the source code of the core program has been built already, but the RobCoGen distribution also includes source code of other components.

Please refer to the usage page for information about launching and using RobCoGen.

Latest version (December 2020)

RobCoGen v0.5.2 MD5 checksum: c3bd62f141ec6ce923e19f64890f020a

Older versions

RobCoGen v0.5.1 MD5 checksum: 19228a203181a338fd69f7bcc588955b

RobCoGen v0.5.0 MD5 checksum: 25ee8d687e14f4abc61762bae0c83787

RobCoGen v0.4.0

Changelog summary

0.5.2

• some fixes related to the usage of CppAD scalar types in the generated C++ code

• some cosmetic changes and more configurability about the C++ namespaces, the headers install path; no more dyn namespace for dynamics.

• add generation of forward dynamics in the Octave code

• update the sample generated code included in the binary distribution

• miscellaneous fixes

0.5.1

• support for custom scalar type in the generated C++ code (only via typedef, for now)

• some fixes related to parametric robot models

• generate some simple programs for the test of the generated C++ code

• slight improvement in the configurability of output directories

• new (shorter) name for the configuration files

0.5.0

• remove parameters-getter interfaces from the generated C++ code, in favour of a simpler mechanism

• introduce a new global configuration option about constant folding

• few bug fixes

Alternative versions

Automatic Differentiation

A modified version of RobCoGen that generates code suitable for use with Automatic Differentiation (AD) tools, is also available. The main difference in the generated code is that every C++ source is templated on the scalar type.

This version is labeled as 0.4ad.0.

RobCoGen v0.4ad.0 MD5 checksum: a484685168d403be24cd377700af13f4

Note that this is a very old release. Recent releases also partially support automatic differentiation. See here.