Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA) and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.
kinematics computer-graphics automatic-differentiation glm rigid-body-dynamics autodiff rbdl articulated-body-algorithm newton-euler spatial-algebra
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Updated
Mar 24, 2026 - C++