Section: robotpkg/simulation
Priority: extra
Maintainer: openrobots@laas.fr
Source: /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-26.04-x86_64/pub/libdart-6.15.0r1~doc.tgz
Package: robotpkg-libdart+doc
Version: 6.15.0r1
Architecture: amd64
Homepage: https://dartsim.github.io/
Depends: libassimp-dev (>= 5.2.0), libbullet-dev (>= 2.75), libconsole-bridge-dev (>= 0.3), libfcl-dev (>= 0.5), libglut-dev, libccd-dev (>= 2.0), libfmt-dev, libstdc++6, libgl-dev, liboctomap-dev (>= 1.6.0), libode-dev (>= 2:0.16.2), libspdlog-dev (>= 1:1.5.0), libtinyxml2-dev (>= 2), liburdfdom-headers-dev (>= 0.2.2), liburdfdom-dev (>= 0.2.8)
Conflicts: robotpkg-libdart
Provides: robotpkg-libdart
Replaces: robotpkg-libdart
Description: Dynamic Animation and Robotics Toolkit
 License: 2-clause-bsd
 Debian-Packager: robotpkg@laas.fr
 DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
 cross-platform, open-source library developed by the Graphics Lab and Humanoid
 Robotics Lab at the Georgia Institute of Technology, with ongoing contributions
 from the Personal Robotics Lab at the University of Washington and the Open
 Source Robotics Foundation. It provides data structures and algorithms for
 kinematic and dynamic applications in robotics and computer animation. DART
 stands out due to its accuracy and stability, which are achieved through the
 use of generalized coordinates to represent articulated rigid body systems and
 the application of Featherstone’s Articulated Body Algorithm to compute motion
 dynamics.
 .
 For developers, DART offers full access to internal kinematic and dynamic
 quantities, such as the mass matrix, Coriolis and centrifugal forces,
 transformation matrices, and their derivatives, unlike many popular physics
 engines that treat the simulator as a black box. It also provides efficient
 computation of Jacobian matrices for arbitrary body points and coordinate
 frames. The frame semantics of DART allow users to define and use arbitrary
 reference frames (both inertial and non-inertial) to specify or request data.
 .
 DART is suitable for real-time controllers due to its lazy evaluation, which
 automatically updates forward kinematics and dynamics values to ensure code
 safety. It also allows for the extension of the API to embed user-provided
 classes into DART data structures. Contacts and collisions are handled using an
 implicit time-stepping, velocity-based linear complementarity problem (LCP) to
 guarantee non-penetration, directional friction, and approximated Coulomb
 friction cone conditions.
 .
 In summary, DART has applications in robotics and computer animation as it
 features a multibody dynamic simulator and various kinematic tools for control
 and motion planning.
 .
 Homepage:
 https://dartsim.github.io/

