This is the ASIF library that implements a wide variety of control barrier functions. It requires the OSQP solver to use.
First, install OSQP. Then simply install as you would any CMake package.
DrewSingletary/asif
CBF library used in a wide variety of simulation and hardware implementations. Embedded friendly, requires OSQP. Library originally written by Thomas Gurriet. Contains slightly modified version of libaffa, found here: https://github.com/ogay/libaffa
C++