Topics

Here is a list of all topics with brief descriptions:

Configuration settings	Version information and configured size values for model parameters and buffers
Linear Algebra for 3x3 Matrices	Linear algebra for 3x3 matrix operations
Unit Quaternions	Rotations using quaternions
Rotation matrices and conversions	Conversions and operations for rotations in SO(3)
Coordinate Transforms and Motion Vectors	Coordinate transformations and velocity and acceleration propagation
Joint Definitions and Kinematics	Robot joint types, transforms, and model object
Rigid Body	Rigid body (link) mass properties and transforms
Body Tree	Rigid body tree containing geometry and mass properties of robot model
Robot Kinematics	Functions to compute robot model kinematics
Jacobian Kinematics	Jacobian matrix for robotics
Forward Kinematics Computation	Standalone forward kinematics computation module
Small segment trajectories	Segments with motion constraints
Trapezoidal trajectory profile
PID Controller	Proportial Integral Derivaitve controller
Quintic Polynomial Trajectory	Trajectory using 5th order polynomials
Trajectory timescaling	Scale trajectories with modified time differential
Incremental Encoder	Decode and encode incremental encoder counts and position
Spatial Algebra	Spatial algebra
Robot Dynamics	Robot model dynamics
Inverse Kinematics	Inverse kinematics
Linear Algebra	Linear algebra utility for matrix and vector computations
Timer management	Timed Loop Management
Urdf Parsing	Parsing URDF files to get rigid body tree object