Kinematics and Dynamics Library¶

Overview¶

Eigen Space transformations
tf2 (ROS) is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time
Kindr - Kinematics and Dynamics for Robotics
ethz-asl/minkindr: A minimal library for transformations, following the kindr interface. Uses active quaternions of rotation in Hamilton notation.
RBDL: Rigid Body Dynamics Library
orocos KDL: Kinematics and Dynamics Library
Spatial Vectors and Rigid-Body Dynamics: Spatial vectors are 6D vectors that simplify the task of describing, analysing, and calculating rigid-body dynamics
ethz-asl/geodetic_utils: Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)
posest: A C/C++ Library for Robust 6DoF Pose Estimation from 3D-2D Correspondences