geometry: angles | bullet | eigen | kdl | tf | tf_conversions

Stack Summary

The basic geometric and math libraries used in ros.

• Author: Maintained by Tully Foote tfoote@willowgarage.com
• License: BSD,LGPL,ZLib
• Repository: ros-pkg (https://code.ros.org/svn/ros-pkg)

Documentation

Math Packages

• angles - A collection of methods for computing angles.

• eigen - A generic math library

Geometric Packages

• bullet - A physics engine

  • Primary used for linear math library
  • Experimentally used for collision engine.

• kdl - A kinematics and dynamics package.

  • Primarily used for robot kinematics

• tf - A coordinate transform library

  • Used to keep track of coordinate frames throughout the robot

• tf_conversions - A set of conversion functions to go between tf, kdl, and eigen datatypes.

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