ATOMS

Advanced Tools for Multi-Body Systems

ATOMS is a Python package that collects useful tools to operate with systems of rigid bodies.

List of dependencies

• osqp
• numpy
• scipy
• matplotlib
• scikit-learn

Available classes

• linearMPC: implements Model Predictive Control for linear systems using OSQP;
• kalmanFilter: implementation of the Kalman Filter;
• import_data: import, process, split and plot data in .mat format;
• atoms_helpers: helpers methods and logger to be used in the other classes of the package;
• one_class_svm: wrapper of the one class support vector machines (SVM) from scikit-learn.

Examples

See also the examples folder.

Installation and usage

Tested on Ubuntu 20.04 LTS.

Firstly, git clone this repository. To install the dependencies in a venv virtual environment run:

python -m venv atomsenv
source ./atomsenv/bin/activate

then, run the command python3 setup.py installor pip install -r requirements.txt to install the required dependencies.

Maintainer

Gabriele Nava, @gabrielenava