Introduction

Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.

The key class definitions in this library from which all specialized types are derived are:

Installation

This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of Eigen and Boost (unit test framework only). The library manif-geom-cpp must also be installed.

Install with

mkdir build
cd build
cmake ..
make # or make install

By default, building will also build and run the unit tests, but this can be turned off with the CMake option BUILD_TESTS.