RML: Robotics Mathematical Library

The RML library is built on top of the Eigen library to provide all the necessary tools to operate with mobile robotic manipulators. The library can be found in the GRAAL Robotics Toolbox repositories.

Documentation

Full doxygen-generated documentation can be found at: RML Documentation.

Features

Its major features are:

1. Definition of derived Eigen types such as Rotation and Homogeneus Transformation matrices (Eigen::RotMatrix and Eigen::TransfMatrix), Euler angles (rml::EulerRPY, using the z-y-x convention, i.e. the yaw-pitch-roll rotations order), and all the functions to convert from one type to another.
2. Implementation of a very fast SVD algorithm (for robot-wise matrix dimensions) with optional regularization parameters (rml::SVD()).
3. Implementation of a Pseudo-Inversion algorithm (rml::RegularizedPseudoInverse()).
4. Implementation of a slim RobotModel class able to manage multi arm mobile robotic platforms (rml::RobotModel), in which we can load a rml::VehicleModel and many rml::ArmModel(s), providing frame and jacobian utilities, also including dJdq and manipulability measurements.
5. Implementation of the Newton-Euler algorithm (rml::NewtonEuler), with some utility functions to simulate dynamic systems.
6. Providing a set of robotic related functions such as: lemma versor, bell shaped functions, point to plane distance and more.

Check out the doxygen rml namespace documentation for a brief overview of all functionalities. Where not explicitly stated so, the default units are the SI ones (meters, kg, seconds, etc.).

Dependencies

Before building the repository you will have to install the following dependencies:

• Eigen 3 (sudo apt install libeigen3-dev)

Building and installing

The build tool used for this project is CMake. To build and install the project navigate to the root of the cloned repo and execute the following commands:

$ mkdir build
$ cd build
$ cmake ..
$ sudo make install

The CMakeLists.txt provides also an additional BUILD_TESTS option, which by default is set to OFF. If you want to build also the tests just run:

$ cmake .. -DBUILD_TESTS=ON

License

The software is released under the MIT License, as reported in the LICENSE.md file.

Mantainer

This project is mantained by the GRAAL Laboratory, University of Genoa (Italy).