Kinematics and Dynamics Library
[Robot]

This is the API reference of the Kinematics and Dynamics Library (KDL), a sub-project of Orocos, but that can be used independently of Orocos. More...

Modules
	Kinematic Families
	All classes to support kinematic families.
	Motion
	All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks.

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Detailed Description

This is the API reference of the Kinematics and Dynamics Library (KDL), a sub-project of Orocos, but that can be used independently of Orocos.

KDL offers different kinds of functionality:

Geometric primitives and their transformations:

• KDL::Vector
• KDL::Rotation
• KDL::Frame
• KDL::Twist
• KDL::Wrench

Other modules:

• Kinematic Families : functionality to build kinematic chains and access their kinematic and dynamic properties, such as e.g. Forward and Inverse kinematics and dynamics.
• Motion : functionality to specify motion trajectories of frames and kinematic chains, such as e.g. Trapezoidal Velocity profiles.