recursive-newton-euler

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.

sdu_controllers is a C++ library that implements fundamental robot controllers. The library is developed and maintained by the SDU Robotics group at University of Southern Denmark (SDU).