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Low-Complexity Inverse Kinematics

A versatile and efficient framework for constrained trajectory optimization

A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.

Library for multivariate function approximation with splines (B-spline, P-spline, and more) with interfaces to C++, C, Python and MATLAB

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Efficient bindings between Numpy and Eigen using Boost.Python

Tutorials in IPython notebook for the SpaceVecAlg and RBDyn library.

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

RobOptim Core Plug-In Ipopt: Ipopt interface for RobOptim Core

RobOptim Core Layer: interface and basic mathematical tools

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Provide Eigen3 to numpy conversion

Implementation of spatial vector algebra with the Eigen3 linear algebra library.