screw-motions

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wei-hsuan-cheng / robot_math_utils

A C++ Eigen-based maths library for robotics applications, including SO(3) and SE(3) transformations, screw motions, robot kinematics, and control laws. All the codes are successfully tested in ROS 2 humble.

cplusplus robotics controller eigen motion-planning se3 so3 ros2 forward-kinematics screw-motions

Updated Apr 25, 2026
C++

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