tinyrobotics
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tinyrobotics is a lightweight C++ library which provides core robotics algorithms for kinematics and dynamics.
The goal of tinyrobotics is to be as simple as possible while still being incredibly fast and versatile.
The core algorithms of tinyrobotics are listed below, for detailed documentation on all the available functions, see documentation.
Function | Description |
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import_urdf | Generate a tinyrobotics model from a URDF robot description. |
Function | Description |
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forward_kinematics | Compute homogeneous transform between links. |
inverse_kinematics | Solve joint positions for desired pose between links. |
jacobian | Compute geometric jacobian to a link from base. |
center_of_mass | Compute center of mass of model. |
Function | Description |
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forward_dynamics | Compute joint accelerations given joint positions, velocities and torques. |
inverse_dynamics | Compute joint torques given joint positions, velocities and accelerations. |
mass_matrix | Compute mass matrix given joint positions. |
kinetic_energy | Compute kinetic energy given joint positions and velocity. |
potential_energy | Compute potential energy given joint positions and velocity. |
total_energy | Compute total energy (kinetic + potential) given joint positions and velocities. |
The code below demonstrates how to generate a model via a URDF and use kinematics and dynamics functions. Numerous other examples are provided in the examples
folder.