Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.
robotics kinematics dynamics computer-graphics automatic-differentiation glm urdf gjk rigid-body-dynamics autodiff featherstone cpp23 kinematic-trees rbdl articulated-body-algorithm newton-euler recursive-newton-euler crba spatial-algebra articulated-3d
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Updated
Sep 25, 2026 - C++