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.
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.
A doxygen documentation is available online.
Use the multi-contact-unstable ppa:
sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install librbdyn-dev librbdyn-doc
Install from the command line using Homebrew:
# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install rbdyn
To compile you need the following tools:
- Git
- CMake >= 2.8
- pkg-config
- doxygen
- g++ >= 4.7ย (for C++11 support)
- Boost >= 1.49
- Eigen >= 3.2
- SpaceVecAlg
For Python bindings:
- Cython = 0.20
- Eigen3ToPython (to use the python binding)
git clone --recursive https://github.com/jrl-umi3218/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 insite-packages
(ON will install indist-packages
)
You can use the following AUR package.
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