This the C++ "iit_rbd" library. It contains some basic types and functions related to spatial vector algebra and Rigid Body Dynamics (RBD).
This library was developed as part of the RobCoGen project, and it was designed as the common ground of the C++ code that RobCoGen generates.
Although it is not meant to be a user library, it can perfectly serve user code that needs e.g. a type for spatial vectors or for the spatial 6x6 inertia tensor.
See the documentation comments in the source code. Your starting point should
be the iit/rbd/rbd.h header file.
This is a header only library. Installing is optional and just means copying the headers in a location of your choice.
On Linux, you can install in the system include path with ./install.sh
© 2015 Marco Frigerio
Distributed under the BSD 2-clause license. See the LICENSE file for more
details.