ndantam/amino

Lightweight robotics utility library

Amino is library of basic utilities for robotics software. It covers mathematical and linear algebra routines, memory management, time-handling, and various utilities.

FEATURES

• Extensive support for SE(3) representations and operations, including velocities and derivatives
• Kinematic robot models as scene graphs / kinematic trees
• Visualization using OpenGL and POVRay
• Lightweight BLAS/LAPACK wrapper handling allocation
• O(1) Memory Region Allocator

INSTALLATION

Obtaining Amino

• Via git:

    git clone --recursive https://github.com/golems/amino.git
    cd amino && autoreconf -i
  

• Via distribution tarball

Building Amino

./configure && make && make install

See the INSTALL file and ./configure --help for details and dependencies.

DOCUMENTATION

• Manual, and ./doc/manual/
• Examples ./demos/

PUBLICATIONS

• N. T. Dantam (2021), Robust and efficient forward, differential, and inverse kinematics using dual quaternions, The International Journal of Robotics Research, 40(10--11), pp. 1087--1105.
• N. T. Dantam (2020). Practical Exponential Coordinates Using Implicit Dual Quaternions. In: Morales, M., Tapia, L., Sánchez-Ante, G., Hutchinson, S. (eds) Algorithmic Foundations of Robotics XIII. WAFR 2018. Springer Proceedings in Advanced Robotics, vol 14. Springer, Cham.
• Z. K. Kingston, N. T. Dantam and L. E. Kavraki, Kinematically constrained workspace control via linear optimization, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, pp. 758-764

PRESENTATIONS

• N. T. Dantam. University of Washington Robotics Colloquium. 2019.