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// RATINGS
Not yet listed on ClawHub or SkillsMP
// README
Introduction
basjoo is a high-performance C++23 mathematical library purpose-built for autonomous driving and robotics applications. In these domains, engineers routinely need:
- Spline-based path representation — smoothly interpolating waypoints into drivable trajectories with curvature, tangent, and arc-length queries.
- Convex optimization — solving quadratic programs in real-time for trajectory smoothing, obstacle avoidance, and control allocation.
- Motion planning models — combining reference lines, time–arc-length mappings, and hard/soft constraints (borders, fences) to generate feasible, comfortable motions.
- Efficient linear algebra — fast vector/matrix operations (with optional BLAS/LAPACK and AVX-512 SIMD) as the computational foundation for all of the above.
basjoo provides all of these capabilities in a unified, header-mostly library with modern C++23 concepts and templates. Each component is a fine-grained CMake target (e.g., basjoo::math_vec2, basjoo::cvxopm_osqp_solver) so you can link only what you need.
Module Overview
src/basjoo/
├── common/ # basjoo::common — Utilities
│ ├── fsm.hpp
│ ├── aligned_allocator.hpp
│ ├── aligned_memory_resource.hpp
│ ├── chrono_inspector.hpp
│ ├── exec_on_exit.hpp
│ ├── in_in_in_out_result.hpp
│ ├── logging.hpp
│ └── macros.hpp
├── math/ # basjoo::math — Mathematical Primitives
│ ├── concepts.hpp
│ ├── type_traits.hpp
│ ├── utils.hpp
│ ├── cubic_interpolation.hpp
│ ├── quintic_interpolation.hpp
│ ├── fft.hpp
│ ├── chebyshev.hpp
│ ├── fixed.hpp
│ ├── dense/ # Dense Linear Algebra
│ │ ├── vec2.hpp
│ │ ├── vec3.hpp
│ │ ├── vector.hpp
│ │ ├── vectorx.hpp
│ │ ├── vector_view.hpp
│ │ ├── matrix.hpp
│ │ ├── matrixx.hpp
│ │ ├── matrix_view.hpp
│ │ ├── lu_dcmp.hpp
│ │ ├── qr_dcmp.hpp
│ │ ├── partial_pivot.hpp
│ │ ├── dense_traits.hpp
│ │ └── detail/
│ ├── sparse/ # Sparse Matrices
│ │ ├── dok_matrix.hpp
│ │ ├── lil_matrix.hpp
│ │ ├── coo_matrix.hpp
│ │ ├── csr_matrix.hpp
│ │ ├── csc_matrix.hpp
│ │ ├── sparse_matrix_proxy.hpp
│ │ ├── index_pair.hpp
│ │ ├── sparse_traits.hpp
│ │ └── qdldl_dcmp.hpp
│ ├── curves/ # Piecewise Curves
│ │ ├── piecewise_linear_curve.hpp
│ │ ├── piecewise_cubic_curve.hpp
│ │ ├── piecewise_quintic_curve.hpp
│ │ ├── curve_proxy.hpp
│ │ ├── sl.hpp
│ │ └── slv.hpp
│ ├── functions/ # Piecewise Functions
│ │ ├── piecewise_linear_function.hpp
│ │ ├── piecewise_cubic_function.hpp
│ │ ├── piecewise_quintic_function.hpp
│ │ ├── function_proxy.hpp
│ │ └── boundary_mode.hpp
│ └── mdfunctions/ # Multi-dimensional Functions
│ ├── linear_mdfunction.hpp
│ ├── quadratic_mdfunction.hpp
│ ├── rosenbrock_function.hpp
│ └── mdfunction_proxy.hpp
├── cvxopm/ # basjoo::cvxopm — Convex Optimization
│ ├── settings.hpp
│ ├── result.hpp
│ ├── info.hpp
│ ├── problems/
│ │ ├── osqp_problem.hpp
│ │ └── dense_problem.hpp
│ └── solvers/
│ ├── osqp_solver.hpp / .cpp
│ ├── lbfgs_solver.hpp
│ ├── bfgs_solver.hpp
│ ├── amoeba_solver.hpp
│ ├── lnsrch_solver.hpp
│ └── detail/
└── bicycle/ # basjoo::bicycle — Motion Planning
└── planners/
├── route_line.hpp
├── path.hpp
├── motion.hpp
├── fence.hpp
├── border.hpp
├── dualism.hpp
├── route_line_cubic_acc_planner.hpp
├── route_line_quintic_acc_planner.hpp
├── route_line_cubic_offset_planner.hpp
└── route_line_quintic_offset_planner.hpp
basjoo::math — Mathematical Primitives
Dense Linear Algebra (math/dense/)
| File | Target | Description |
|---|---|---|
vec2.hpp | basjoo::math_vec2 | Fixed-size 2D vector Vec2<T> with euclidean(), radian(), rotate(), crossProj(), normalized(), optional AVX-512 SIMD |
vec3.hpp | basjoo::math_vec3 | Fixed-size 3D vector Vec3<T> with cross(), crossProj(), optional AVX-512 SIMD |
vector.hpp | basjoo::math_vector | Fixed-size dense vector Vector<T, N> with dot(), euclidean(), conjugated(), optional BLAS/LAPACK |
vectorx.hpp | basjoo::math_vectorx | Dynamic-size dense vector VectorX<T> (heap-allocated, PMR-aware) |
vector_view.hpp | basjoo::math_vector_view | Non-owning view VectorView<T> over contiguous memory with stride support |
matrix.hpp | basjoo::math_matrix | Fixed-size dense matrix Matrix<T, NRows, NCols> with row/column-major layout, optional BLAS/LAPACK |
matrixx.hpp | basjoo::math_matrixx | Dynamic-size dense matrix MatrixX<T> (heap-allocated, PMR-aware) |
matrix_view.hpp | basjoo::math_matrix_view | Non-owning view MatrixView<T> over matrix memory |
lu_dcmp.hpp | basjoo::math_lu_dcmp | LU decomposition LuDcmp<T> with partial pivoting for solving linear systems |
qr_dcmp.hpp | basjoo::math_qr_dcmp | QR decomposition QrDcmp<T> for least-squares and linear system solving |
Sparse Matrices (math/sparse/)
| File | Target | Description |
|---|---|---|
dok_matrix.hpp | basjoo::math_dok_matrix | Dictionary-of-keys format DokMatrix<T, I> for incremental construction |
lil_matrix.hpp | basjoo::math_lil_matrix | List-of-lists format LilMatrix<T, I> for row-wise construction |
coo_matrix.hpp | basjoo::math_coo_matrix | Coordinate format CooMatrix<T, I> (row/col/value triplets) |
csr_matrix.hpp | basjoo::math_csr_matrix | Compressed sparse row `CsrMatrix<T, I> |
// HOW IT'S BUILT
KEY FILES