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C++ framework for robot kinematics, dynamics, motion planning, control
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control. It covers spatial vector algebra, multibody systems, hardware abstraction, path planning, collisiondetection, and visualization.
Bot simulation main purpose is to help real bot developer to test their bot behaviors thanks to an openGL simulation with collisiondetection and a scriptable behavior in LUA.
Moved to https://github.com/rdiankov/openrave
An open-source, cross-platform, plugin-based robot planning environment for autonomous robotics. Includes services like collisiondetection, physics, (inverse) kinematics, sensors, robot controls, python bindings, and a network scripting environment.
The library currently consists of an implementation of collisiondetection of static/moving ellipsoids that exploits frame-coherence using separating planes. Please visit http://www.cs.hku.hk/GraphicsGroup/cd.html for paper references.
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Yaobi is a fast collisiondetection library for general triangulated objects. It uses a hierarchical representation based on oriented bounding boxes. Yaobi compares well with other libraries when it comes to speed and memory consumption.