Alejandro R. Mosteo

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Code

Ada languaje

Ada is one of the sane choices for a programmer, researcher or engineer to write its code. It combines portability, reliability and maintainability with strong software engineering principles, real-time and low-level capabilities, OOP, and high-level abstractions for tasking and concurrency. To ice your cake, a popular and free compiler (GNAT) exists that uses the gcc chain, so you can expect comparable performance with C/C++ and the like.

In this section is available some of my code, usually published under GPLv3. Download it from:

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SANCTA - Robotics library

SANCTA: Simulated Annealing Constrained Task Allocation is a component-based library containing my research code for service networked robotics. There is a paper, published in the AdaEurope'07 conference on reliable software technologies proceedings, introducing it. It works on top of Player right now, although it is prepared for easy switch of the underlying robotic platform.
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AGPL - Ada General Purpose Library

A collection of utilities. There is not a specific focus, just a bit of this and that that I have needed in my projects:
  • String processing: paths and fields extraction.
  • Task pools.
  • A binding to the Concorde TSP solver.
  • A class for easy drawing with GTK.
  • BMP on-the-fly generation.
  • A binding to Cyrill Stachniss' improved Hungarian solver.
  • Averaging queues, time-ordered event queues.
  • Bag container (O(1) insertion and removal of random elements, useful for some Monte-Carlo algorithms).
  • N-Trees.
  • Some protected containers.
  • A generic simulated annealing solver.
  • A dynamic programming based MDP solver suitable for small problems.
  • Several stream types for in-memory conversions, circular streams, protected, etc.
  • A powerful tracing class, removable at compile time leaving zero-cost overhead.
  • XML layer on top of Xml/Ada for much simpler XML processing (on the mood of tinyxml).
  • And more...
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Player-Ada

An Ada thick binding for the Player/Stage project. Includes the most commonly used interfaces. If you use this, you may find interesting the reference frame transformations package in AGPL.
 
Current version is 3.0.1.0 released on 2010.03.19.
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MbICP binding

An Ada binding for the excellent MbICP scan matching library by J. Mínguez, L. Montesano and F. Lamiraux. The original C library is now integrated in Player, but you can use it stand-alone with this binding.
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