SpaceVecAlg aim to implement Spatial Vector Algebra with the Eigen3 linear algebra library.

All this implementation is based on appendix A of Roy Featherstone Rigid Body Dynamics Algorithms book.

Features:

• Featherstone Spatial Vector Algebra C++11 implementation
• Header only
• Use Eigen3 as linear algebra library
• Python binding

A short tutorial is available here.

To learn more about Spatial Vector Algebra you can find some presentations on the following page.

The SpaceVecAlg and RBDyn tutorial is also a big ressource to understand how to use SpaceVecAlg. Also you will find a lot of IPython Notebook that will present real use case.

Finally you can build a Doxygen documentation by typing make doc in the build directory. After a make install the documentation will be in CMAKE_INSTALL_PREFIX/share/doc/SpaceVecAlg (see the Installing section).

An up-to-date doxygen documentation is also available online.

In this section a stand for a double, v for a motion vector, f for a force vector, I for a rigid body inertia, I^a for a articulated body inertia and X for a plücker transfrom.

. stand for the dot product, xfor the cross product and x^{\*} for the cross product dual.

r stand for a 3d translation vector, E for a 3d rotation matrix, m for a mass, c for the center of mass 3d vector from the body origin, I_c for the 3d rotational inertia matrix at CoM frame.

Here w stand for the 3d angular velocity, v for the 3d linear velocity, n for the 3d torque, f for the 3d force, E for the 3d rotation matrix, r for the 3d translation vector, q for a unit quaternion, m for a mass, h for the first moment of mass (h = m c) at body frame, I for the 3d rotational inertia at body frame, M for the 3d mass matrix, and H for the 3d generalized inertia matrix.

Use the multi-contact-unstable ppa:

sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install libspacevecalg-dev libspacevecalg-doc

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install spacevecalg

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++ >= 4.7 (for C++11 support)
• Boost >= 1.49
• Eigen >= 3.2

For Python bindings:

• Cython >= 0.25
• Eigen3ToPython (to use the Python binding)

git clone --recursive https://github.com/jrl-umi3218/SpaceVecAlg
cd SpaceVecAlg
mkdir _build
cd _build
cmake [options] ..
make && make intall

Where the main options are:

• -DCMAKE_BUIlD_TYPE=Release Build in Release mode
• -DCMAKE_INSTALL_PREFIX=some/path/to/install default is /usr/local
• -DPYTHON_BINDING=ON Build the python binding
• -DUNIT_TESTS=ON Build unit tests.
• -DPYTHON_DEB_LAYOUT=OFF install python library in site-packages (ON will install in dist-packages)

You can use the following AUR package.

To update sync cmake or .travis directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash

git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .travis git://github.com/jrl-umi3218/jrl-travis.git master --squash