KDL

1.0.99

This is the API reference of the Kinematics and Dynamics Library (KDL), a sub-project of Orocos, but that can be used independently of Orocos. KDL offers different kinds of functionality:

Geometric primitives and their transformations:

• KDL::Vector
• KDL::Rotation
• KDL::Frame
• KDL::Twist
• KDL::Wrench

Other modules:

• Kinematic Families : functionality to build kinematic chains and access their kinematic and dynamic properties, such as e.g. Forward and Inverse kinematics and dynamics.
• Motion : functionality to specify motion trajectories of frames and kinematic chains, such as e.g. Trapezoidal Velocity profiles.
• KDL-toolkit for Orocos RTT : the interface code to integrate KDL into the Orocos Real-Time Toolkit (RTT).