Amino is library of basic utilities for robotics software. It covers mathematical and linear algebra routines, memory management, time-handling, and various utilities.

FEATURES

Extensive support for SE(3) representations and operations, including velocities and derivatives
Kinematic robot models as scene graphs / kinematic trees
Visualization using OpenGL and POVRay
Lightweight BLAS/LAPACK wrapper handling allocation
O(1) Memory Region Allocator

INSTALLATION

Obtaining Amino

Via git:

  git clone --recursive https://github.com/golems/amino.git
  cd amino && autoreconf -i

Via distribution tarball

Building Amino

./configure && make && make install

See the INSTALL file and ./configure --help for details and dependencies.

DOCUMENTATION

Manual, and ./doc/manual/
Examples ./demos/

PUBLICATIONS

N. T. Dantam (2021), Robust and efficient forward, differential, and inverse kinematics using dual quaternions, The International Journal of Robotics Research, 40(10--11), pp. 1087--1105.
N. T. Dantam (2020). Practical Exponential Coordinates Using Implicit Dual Quaternions. In: Morales, M., Tapia, L., Sánchez-Ante, G., Hutchinson, S. (eds) Algorithmic Foundations of Robotics XIII. WAFR 2018. Springer Proceedings in Advanced Robotics, vol 14. Springer, Cham.
Z. K. Kingston, N. T. Dantam and L. E. Kavraki, Kinematically constrained workspace control via linear optimization, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, pp. 758-764

PRESENTATIONS

N. T. Dantam. University of Washington Robotics Colloquium. 2019.