This package implements efficient forward kinematics algorithms for multi-body kinematic chains. One of the main features is the separation between models (constant values representing an object) and data (used for intermediate computations).
The main classes are
The library provides some classes to represent kinematic objects:
Collision checking between bodies of the kinematic chain and external obstacles is implemented using library hpp-fcl (a modified version of Flexible Collision Library). The computation of the position of objects in 3D space for a given configuration is performed by the following classes: