ndcurves
- Software
- Humanoids and robot learning
- Library
A header-only C++ library, with Python bindings, for building curves of any order and dimension, including exact splines through waypoints.
Made by loco-3d.
Source on GitHub: github.com/loco-3d/ndcurves (opens in a new tab). Facts read at commit fa2e299 (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit fa2e299 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Creates exact splines of arbitrary order that pass exactly through a set of waypoints.
- Constrains initial and end velocities and accelerations of a spline.
- Forces take-off and landing phases to follow a straight line along a given normal to avoid collisions.
- Handles 3D rotation of the effector and can create curves in SO3.
- Supports partial symbolic differentiation, with control points treated as linear variables.
- Provides polynomial, Bezier and cubic Hermite curve formulations, usable with double or float types.
Written by Robotheca from the project's README (opens in a new tab) at commit fa2e299.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 5 Sept 2026 on devel
- Latest release
- Release v2.3.0 (14 Apr 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.