There are several useful types in the ct RBD package. This is just a loose collection of a few useful classes and types. Please refer to the individual documentation for more information.

ct::rbd::Dynamics and ct::rbd::Kinematics - forward/inverse dynamics, transforms and Jacobians ct::rbd::RBDState - the state of a Rigid Body Dynamics system in minimal coordinates ct::rbd::RigidBodyState - the state of a single 6-DoF Rigid Body ct::rbd::IDControllerFB - a floating base inverse dynamics controller