Onepu
About
A basic implementation of Featherstone's Articulated Bodies Algorithm for simulating large articulated kinematic chains in O(n) time, as described in Roy Featherstone's book Robot Dynamics Algorithms. Also includes an implementation of the 6-dimensional spatial math system described in Featherstone's book, built on top of Eigen.
Written as a hacky, fast implementation. Currently works with extremely large single chains and supports basic gravity; algorithms for multi-DOF and prismatic joints are also implemented, but currently are not exposed to the core simulation loop. That's something I might work on later.
Dependencies
- Eigen 3.2.x
- GLFW 3.0.x
- GLM 0.9.x
- OpenMP 2.0
All external libraries/code can be found bundled together in my Nuparu repository. OpenMP means that Onepu must be compiled with a compiler supporting OpenMP, such as GCC 4.x, MSVC 10.0 or higher, or the experimental OpenMP/Clang.
Building
Onepu can be built via CMake (and has been tested) on OSX, Windows, or Fedora. Requires Nuparu v0.1.14.09.