geodex

A general-purpose software framework for planning on Riemannian manifolds.

geodex provides:

C++20 concepts for manifolds, metrics, retractions, and geodesics
Concrete manifold implementations: sphere \(S^2\), Euclidean \(\mathbb{R}^n\), flat torus \(T^n\), SE(2)
Policy-based design: manifolds parameterized by interchangeable metric and retraction policies
Algorithms: geodesic distance approximation via midpoint method
Python bindings: First-class support for Python (pip install geodex)

Roadmap

Integration	Description	Status
OMPL and VAMP integrations	Planning on Riemannian manifolds with state-of-the-art sampling-based planners	In progress
Nav2 and MoveIt 2 plugins	Geometry-aware planning for ROS 2 mobile robots and manipulators	Planned

Citation

geodex accompanies the paper Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds, accepted to WAFR 2026.

If you use geodex in your research, consider citing:

@article{kyaw2026geometry,
   title={Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds},
   author={Kyaw, Phone Thiha and Kelly, Jonathan},
   journal={arXiv preprint arXiv:2602.00992},
   year={2026}
}