Control Toolbox - Rigid Body Dynamics Module

This module is part of the ADRL Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control, estimation and trajectory optimization for robotics.

The Rigid Body Dynamics (RBD) Module contains helpers for kinematic and dynamic computations for modelling multi body systems.

Installation and Usage

CT Rigid Body Dynamics is part of the Control Toolbox suite. See the CT main documentation for installation and usage instructions.