______ ______ __ __ _____
/\ == \ /\ == \ /\ \/ / /\ __-.
\ \ __< \ \ __< \ \ _"-. \ \ \/\ \
\ \_\ \_\ \ \_____\ \ \_\ \_\ \ \____-
\/_/ /_/ \/_____/ \/_/\/_/ \/____/
Rigid Body Kinematics and Dynamics in c++ for robot Digit from Agility Robotics.
Why not Pinocchio or RBDL? This way I gain more understanding of the underlying algorithms while making it specifically suited for my control code down the line.
This implementation is 9.7 times slower than Pinocchio but has pedagogical value
Please star if you are using it