This package implements the abstract interface abstractRobotDynamics. More specifically the algorithm used in this library is the well known Newton-Euler which provides the inverse dynamics of a robot. Given a robot with a state vector
To make sure that the code developped with this library is compatible with other implementation of the abstract interface, the specific implementation details are hidden to the user.
The robot model used in this library is a kinematic tree which can be build using the abstract interface or by parsing a VRML file following the
OpenHRP format.
The documentation is divided in the following sections: