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RigidBodyDynamics.jl is a rigid body dynamics library in pure Julia. It aims to be user friendly and performant, but also generic in the sense that the algorithms can be called with inputs of any (suitable) scalar types. This means that if fast numeric dynamics evaluations are required, a user can supply Float64 or Float32 inputs. However, if symbolic quantities are desired for analysis purposes, they can be obtained by calling the algorithms with e.g. SymPy.Sym inputs. If gradients are required, e.g. the ForwardDiff.Dual type, which implements forward-mode automatic differentiation, can be used.
Features
- pure Julia implementation, enabling seamless support for e.g. automatic differentiation using ForwardDiff.jl and symbolic dynamics using SymPy.jl
- Easy creation and modification of general rigid body mechanisms
- Basic parsing of and writing to the URDF file format
- Extensive checks that verify that coordinate systems match before computation, with the goal of making reference frame mistakes impossible
- Flexible caching of intermediate results to prevent doing double work
- Fairly small codebase and few dependencies
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Data VisualizationLicense
MIT LicenseFollow RigidBodyDynamics.jl
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