Contents

• Introduction
  • Description
  • Requirements
  • Compiling
    • Linux
    • MS Windows
    • Mac OSX
    • QNX
  • Copyright
  • Version history
  • Files in the distribution
  • Doxygen documentation
  
  
• Reference manual
  • 3D homogeneous transforms
  • The Quaternion class
  • The Robot and mRobot classes
    • Robot and mRobot object initialization
    • Kinematics
    • Dynamics
    • Linearized dynamics
  • The Spl_Cubic class
  • The Spl_path class
  • The Spl_Quaternion class
  • The Trajectory_Select class
  • The CLIK class
  • The Proportional_Derivative class
  • The Computed_torque_method class
  • The Resolve_acc class
  • The Impedance class
  • The Control_Select class
  • The Stewart class
  • The IO_matrix_file class
  • Graphics
  • Config class
  • Miscellaneous
  • Summary of functions
  
  
• Reporting bugs, contributions and comments
  • Reporting bugs
  • Making a contribution to the package
  • Citing the package
  
  
• Credits and acknowledgments
• Future developments
• Bibliography
• Recursive Newton-Euler algorithms, DH notation
  • Recursive Newton-Euler formulation
  • Recursive linearized Newton-Euler formulation
  
  
• Recursive Newton-Euler algorithms, modified DH notation
  • Recursive Newton-Euler formulation
  • Recursive linearized Newton-Euler formulation
  
  
• GNU Lesser General Public License