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https://github.com/ANYbotics/kindr

Kinematics and Dynamics for Robotics
https://github.com/ANYbotics/kindr

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Kinematics and Dynamics for Robotics

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Kindr - Kinematics and Dynamics for Robotics

=============================================



**Authors: Christian Gehring, C. Dario Bellicoso, Michael Bloesch, Remo Diethelm, Peter Fankhauser, Paul Furgale, Michael Neunert, Hannes Sommer


Maintainer: Remo Diethelm, [email protected]


Affiliation: [ANYbotics](https://www.anybotics.com/)**



This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab).



This work is conducted as part of [ANYmal Research](https://www.anymal-research.org/), a community to advance legged robotics.



The source code is released under a [BSD 3-Clause license](LICENSE).



## Documentation



[Online](https://opensource.docs.anymal.com/doxygen/kindr/master/index.html)



Impatient individuals can directly download the [cheat sheet](https://opensource.docs.anymal.com/doxygen/kindr/master/cheatsheet_latest.pdf).



See also section 'Building the documentation' below.



## Changelog



### Kindr 1.0.0



* Simplified header include `#include ` is provided.

* Kindr is now strongly dependent on Eigen.

* All sub namespaces have been removed. (e.g. `kindr::rotations::eigen_impl` -> `kindr::`)

* The implementations of rotations and time derivatives have been simplified (Passive, Hamiltonian).

    - Active typedefs (e.g. RotationQuaternionAD) have been removed and simpler ones (e.g. RotationQuaternionD) have been introduced.

    - Note that the functionality of some operators changed! Please check the [cheat sheet](https://opensource.docs.anymal.com/doxygen/kindr/master/cheatsheet_latest.pdf) to understand what is implemented.

    - Some hints on what needs to be changed from kindr 0.0.1:

       - `rotation.setFromVectors(v1, v2)` -> `rotation.setFromVectors(v2, v1)`

       - `C_BI.boxPlus(dt * B_w_IB)` -> `C_BI.boxPlus(dt * C_IB * B_w_IB)`

       - `C_BI.boxMinus(dt *  B_w_IB)` ->  `-C_BI.boxMinus(dt * B_w_IB)`

       - Euler angles probably have to be negated.

* Conversion methods between ROS and kindr have been moved to the package [kindr_ros](https://github.com/anybotics/kindr_ros).

* Concatenation of Homogeneous Transformation is now implemented.

* Short typedefs are provided for Homogeneous Transformation: `HomTransformQuatD`, `HomTransformMatrixD`.

* Jacobian of exponential map is implemented.

* Unit tests based on gtest are provided to test the convention of other software packages.

    - Gazebo (gazebo::math::Quaternion) uses the same convention as kindr.

    - ROS TF (tf::Quaternion and tf::Matrix3x3) uses the same convention as kindr.

    - RBDL's RigidBodyDynamics::Math::SpatialTransform uses the same convention as kindr, whereas RBDL's RigidBodyDynamics::Math::Quaternion concatenates differently and its conversion to a rotation matrix is inverted.



## Requirements



* [Eigen 3.2.0](http://eigen.tuxfamily.org) (Older versions might also work)

* GCC 4.7 is required at the minimum.

* CMake 2.8.3 is required at the minimum.



## Building



### Building with cmake



Install the library with [CMake](www.cmake.org):



```bash

mkdir build

cd build

cmake .. -DUSE_CMAKE=true

sudo make install

```



Note that `USE_CMAKE` defaults to `true` if catkin is not installed.



Uninstall the library with:



```bash

cd build

sudo make uninstall

```



Kindr can be included in your cmake project.

Add the following to your *CmakeLists.txt*:



```

find_package(kindr)

include_directories(${kindr_INCLUDE_DIRS})

```



### Building with catkin



Build kindr with [catkin](wiki.ros.org/catkin):



```bash

cd ~/catkin_ws/src

git clone [email protected]:anybotics/kindr.git

catkin_make_isolated -C ~/catkin_ws

```



or with [catkin command line tools](http://catkin-tools.readthedocs.org):



```bash

cd ~/catkin_ws/src

git clone [email protected]:anybotics/kindr.git

catkin build -w ~/catkin_ws kindr

```



Kindr can be included in your catkin project with:

Add the following to your *CMakeLists.txt*:

```

find_package(catkin COMPONENTS kindr)

include_directories(${catkin_INCLUDE_DIRS})

```



And to your *package.xml*:



```xml



  kindr



```



### Building the documentation



Build the documentation with [Doxygen](https://www.doxygen.nl/):

```bash

mkdir build

cd build

cmake ..

make kindr_doc

```



The doxygen documentation can be found here:



```

build/doc/html/index.html

```



### Building unit tests with gtest



[GTests](https://code.google.com/p/googletest/) are only built if the folder *gtest* exists in the root folder.



Download and use GTest:



```bash

wget https://github.com/google/googletest/archive/release-1.7.0.zip

unzip release-1.7.0.zip

ln -s googletest-release-1.7.0 gtest

mkdir build

cd build

cmake .. -DUSE_CMAKE=true -DBUILD_TEST=true

make

```



Note that `USE_CMAKE` defaults to `true` if catkin is not installed.