RBDyn

RBDyn provide a set of class and function to model the dynamics of rigid body systems.

This implementation is based on Roy Featherstone Rigid Body Dynamics Algorithms book and other state of the art publications.

Documentation

Features:

Kinematics tree Kinematics and Dynamics algorithm C++11 implementation
Use Eigen3 and SpaceVecAlg library
Free, Spherical, Planar, Cylindrical, Revolute, Prismatic joint support
Translation, Rotation, Vector, CoM, Momentum Jacobian computation
Inverse Dynamics, Forward Dynamics
Inverse Dynamic Identification Model (IDIM)
Kinematics tree body merging/filtering
Kinematics tree base selection
Python binding

To make sure that RBDyn works as intended, unit tests are available for each algorithm. Besides, the library has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.

A short tutorial is available here.

The SpaceVecAlg and RBDyn tutorial is also a big ressource to understand how to use RBDyn by providing a lot of IPython Notebook that will present real use case.

Installing

Manual

Dependencies

To compile you need the following tools:

Git
CMake >= 2.8
pkg-config
doxygen
g++ >= 4.7 (for C++11 support)
Boost >= 1.49
Eigen >= 3.2
PyBindGen = 0.16
Eigen3ToPython (to use the python binding)
SpaceVecAlg

Building

git clone --recursive https://github.com/jorisv/RBDyn
cd RBDyn
mkdir _build
cd _build
cmake [options] ..
make && make intall

Where the main options are:

-DCMAKE_BUIlD_TYPE=Release Build in Release mode
-DCMAKE_INSTALL_PREFIX=some/path/to/install default is /usr/local
-DPYTHON_BINDING=ON Build the python binding
-DUNIT_TESTS=ON Build unit tests.
-DPYTHON_DEB_LAYOUT=OFF install python library in site-packages (ON will install in dist-packages)

Arch Linux

You can use the following AUR package.

Pulling git subtree

To update sync cmake or .travis directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash

git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .travis git://github.com/jrl-umi3218/jrl-travis.git master --squash

haudren/RBDyn