Package: wnpp Severity: wishlist The RBDL is a highly efficient C++ library that contains some essential rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix. It further contains code for forward and inverse kinematics and handling of external constraints such as contacts and collisions.
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