210 lines
9.4 KiB
Markdown
210 lines
9.4 KiB
Markdown
[](https://travis-ci.org/rbdl/rbdl)
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RBDL - Rigid Body Dynamics Library
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Copyright (c) 2011-2020 Martin Felis <martin@fysx.org>
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Introduction
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============
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RBDL is a highly efficient C++ library that contains some essential rigid
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body dynamics algorithms such as the Articulated Body Algorithm (ABA) for
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forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse
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dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient
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computation of the joint space inertia matrix. It further contains code for
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Jacobians, forward and inverse kinematics, handling of external
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constraints such as contacts and collisions, and closed-loop models.
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The code is developed by Martin Felis <martin@fysx.org>
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at the research group [Optimization in Robotics and Biomechanics
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(ORB)](http://orb.iwr.uni-heidelberg.de) of the [Interdisciplinary Center
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for Scientific Computing (IWR)](http://www.iwr.uni-heidelberg.de) at
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[Heidelberg University](http://www.uni-heidelberg.de). The code tightly
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follows the notation used in Roy Featherstone''s book "Rigid Body Dynamics
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Algorithm".
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Recent Changes
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==============
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* 02 May 2018: New version 2.6.0:
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* Added support for closed-loop models by replacing Contacts API by a new
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Constraints API. Loop constraints can be stabilized using Baumgarte
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stabilization. Special thanks to Davide Corradi for this contribution!
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* New constraint type CustomConstraint: a versatile interface to define
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more general types of constraints (e.g. time dependent), contributed by
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Matthew J. Millard.
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* New joint type JointTypeHelical that can be used for screwing motions
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(translations and simultaneous rotations), contributed by Stuart Anderson.
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* Added support to specify external forces on bodies on constrained forward
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dynamics and NonlinearEffects() (contributed by Matthew J. Millard)
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* Changed Quaternion multiplication behaviour for a more standard
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convention: multiplying q1 (1,0,0,0) with q2 (0,1,0,0) results now in
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(0,0,1,0) instead of the previous (0,0,-1,0).
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* Removed Model::SetFloatingBaseBody(). Use JointTypeFloatingBase instead.
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* LuaModel: extended specification to support ConstraintSets.
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* 28 April 2016: New version 2.5.0:
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* Added an experimental Cython based Python wrapper of RBDL. The API is
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very close to the C++ API. For a brief glimpse of the API see the file
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python/test_wrapper.py.
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* Matthew Millard added CustomJoints which allow to create different joint
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types completely by user code. They are implemented as proxy joints for
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which their behaviour is specified using virtual functions.
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* Added CalcMInvTimesTau() that evaluates multiplication of the inverse of
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the joint space inertia matrix with a vector in O(n) time.
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* Added JointTypeFloatingBase which uses TX,TY,TZ and a spherical joint for
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the floating base joint.
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* Loading of floating base URDF models must now be specified as a third
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parameter to URDFReadFromFile() and URDFReadFromString()
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* Added the URDF code from Bullet3 which gets used when ROS is not found.
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Otherwise use the URDF libraries found via Catkin.
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* Added CalcPointVelocity6D, CalcPointAcceleration6D, and CalcPointJacobian6D
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that compute both linear and angular quantities
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* Removed Model::SetFloatingBase (body). Use a 6-DoF joint or
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JointTypeFloatingBase instead.
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* Fixed building issues when building DLL with MSVC++.
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* 20 April 2016: New version 2.4.1:
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* This is a bugfix release that maintains binary compatibility and only fixes
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erroneous behaviour.
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* critical: fixed termination criterion for InverseKinematics. The termination
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criterion would be evaluated too early and thus report convergence too
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early. This was reported independently by Kevin Stein, Yun Fei, and Davide
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Corradi. Thanks for the reports!
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* critical: fixed CompositeRigidBodyAlgorithm when using spherical joints
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(thanks to Sébastien Barthélémy for reporting!)
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* 23 February 2015: New version 2.4.0:
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* Added sparse range-space method ForwardDynamicsContactsRangeSpaceSparse()
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and ComputeContactImpulsesRangeSpaceSparse()
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* Added null-space method ForwardDynamicsContactsNullSpace()
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and ComputeContactImpulsesNullSpace()
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* Renamed ForwardDynamicsContactsLagrangian() to
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ForwardDynamicsContactsDirect() and
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ComputeContactImpulsesLagrangian() to ComputeContactImpulsesDirect()
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* Renamed ForwardDynamicsContacts() to ForwardDynamicsContactsKokkevis()
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* Removed/Fixed CalcAngularMomentum(). The function produced wrong values. The
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functionality has been integrated into CalcCenterOfMass().
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* CalcPointJacobian() does not clear the argument of the result anymore.
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Caller has to ensure that the matrix was set to zero before using this
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function.
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* Added optional workspace parameters for ForwardDynamicsLagrangian() to
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optionally reduce memory allocations
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* Added JointTypeTranslationXYZ, JointTypeEulerXYZ, and JointTypeEulerYXZ
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which are equivalent to the emulated multidof joints but faster.
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* Added optional parameter to CalcCenterOfMass to compute angular momentum.
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* Added CalcBodySpatialJacobian()
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* Added CalcContactJacobian()
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* Added NonlinearEffects()
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* Added solving of linear systems using standard Householder QR
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* LuaModel: Added LuaModelReadFromLuaState()
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* URDFReader: Fixed various issues and using faster joints for floating
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base models
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* Various performance improvements
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For a complete history see doc/api_changes.txt.
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Documentation
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=============
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The documentation is contained in the code and can be extracted with the
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tool [doxygen](http://www.doxygen.org).
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To create the documentation simply run
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doxygen Doxyfile
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which will generate the documentation in the subdirectory ./doc/html. The
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main page will then be located in ./doc/html/index.html.
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An online version of the generated documentation can be found at
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[https://rbdl.github.io](https://rbdl.github.io).
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Getting RBDL
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============
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The latest stable code can be obtained from the master branch at
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https://github.com/rbdl/rbdl
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Building and Installation
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=========================
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The RBDL is built using CMake
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([http://www.cmake.org](http://www.cmake.org)). To compile the library in
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a separate directory in Release mode use:
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mkdir build
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cd build/
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cmake -D CMAKE_BUILD_TYPE=Release ../
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make
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For optimal performance it is highly recommended to install the Eigen3
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linear algebra library from
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[http://eigen.tuxfamily.org](http://eigen.tuxfamily.org). RBDL also
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comes with a simple, albeit much slower math library (SimpleMath) that can
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be used by enabling `RBDL_USE_SIMPLE_MATH`, i.e.:
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cmake -D RBDL_USE_SIMPLE_MATH=TRUE ../
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Python Bindings
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===============
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RBDL can also build an experimental python wrapper that works with python 3 and python 2. To do this enable the
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the `RBDL_BUILD_PYTHON_WRAPPER` cmake options. This will build the wrapper for python 3, if you want to use python 2 instead
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you will also have to enable the `RBDL_USE_PYTHON_2` cmake option. The result of this is an extra python directory in the build
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directory. From within which you can install it using setup.py. This is done automically when using `make install`
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Citation
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========
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An overview of the theoretical and implementation details has been
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published in [https://doi.org/10.1007/s10514-016-9574-0](Felis,
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M.L. Auton Robot (2017) 41: 495). To cite RBDL in your academic
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research you can use the following BibTeX entry:
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@Article{Felis2016,
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author="Felis, Martin L.",
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title="RBDL: an efficient rigid-body dynamics library using recursive algorithms",
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journal="Autonomous Robots",
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year="2016",
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pages="1--17",
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issn="1573-7527",
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doi="10.1007/s10514-016-9574-0",
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url="http://dx.doi.org/10.1007/s10514-016-9574-0"
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}
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Licensing
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=========
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The library is published under the very permissive zlib free software
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license which should allow you to use the software wherever you need.
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This is the full license text (zlib license):
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RBDL - Rigid Body Dynamics Library
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Copyright (c) 2011-2020 Martin Felis <martin@fysx.org>
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This software is provided 'as-is', without any express or implied
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warranty. In no event will the authors be held liable for any damages
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arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely, subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software
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in a product, an acknowledgment in the product documentation would be
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appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not
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be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source
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distribution.
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Acknowledgements
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================
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Work on this library was originally funded by the [Heidelberg Graduate
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School of Mathematical and Computational Methods for the Sciences
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(HGS)](http://hgs.iwr.uni-heidelberg.de/hgs.mathcomp/), and the European
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FP7 projects [ECHORD](http://echord.eu) (grant number 231143) and
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[Koroibot](http://koroibot.eu) (grant number 611909).
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