# [−][src]Crate arcos_kdl

# ARCOS-KDL

## ARCOS-Lab Kinematics and Dynamic Library.

arcos-kdl has been designed to be as similar as possible to orocos-kdl

## Building

Execute:

```
cargo build --lib
```

## Testing

Execute:

```
cargo test
```

## Documentation

Execute:

```
cargo doc
```

## Examples:

### Forward velocity kinematics

Given the current state at each joint we want to calculate the velocity at the end-effector.

extern crate arcos_kdl; use arcos_kdl::prelude::*; fn main() { println!("Documentation!"); }

## Modules

chains | Implementation of Kinematic chains |

forward_diff_kinematics | Forward kinematics differential solver |

forward_kinematics | Forward kinematics solver |

geometry | Basic geometric constructs like Homogeneous transformations |

inverse_diff_kinematics | Inverse Kinematics differential solver |

jacobian | Implementation of Hexadimensional kinematic Jacobians |

joint | Implementation of robotic Joints |

kinematic_arm | Implementation of a kinematic robotic arm |

prelude | Re-exporting usefull stuff |

segment | Implementation of kinematic chain segments |

svd_eigen | Special SVD computation algorithm |