tinyrobotics is a lightweight C++ library which provides core robotics algorithms for kinematics and dynamics.

The goal of tinyrobotics is to be as simple as possible while still being incredibly fast and versatile.

Features

The core algorithms of tinyrobotics are listed below, for detailed documentation on all the available functions, see documentation.

Model

Function	Description
import_urdf	Generate a tinyrobotics model from a URDF robot description.

Kinematics

Function	Description
forward_kinematics	Compute homogeneous transform between links.
inverse_kinematics	Solve joint positions for desired pose between links.
jacobian	Compute geometric jacobian to a link from base.
center_of_mass	Compute center of mass of model.

Dynamics

Function	Description
forward_dynamics	Compute joint accelerations given joint positions, velocities and torques.
inverse_dynamics	Compute joint torques given joint positions, velocities and accelerations.
mass_matrix	Compute mass matrix given joint positions.
kinetic_energy	Compute kinetic energy given joint positions and velocity.
potential_energy	Compute potential energy given joint positions and velocity.
total_energy	Compute total energy (kinetic + potential) given joint positions and velocities.

Install

1. Install dependencies

• Eigen3
• Catch2
• TinyXML2
• NLopt

sudo apt install -y libeigen3-dev catch2 libtinyxml2-dev

2. Build and install with cmake

git clone https://github.com/Tom0Brien/tinyrobotics.git && cd tinyrobotics
mkdir build && cd build
cmake ..
make
sudo make install # copies files in the include folder to /usr/local/include*

Example

The code below demonstrates how to generate a model via a URDF and use kinematics and dynamics functions. Numerous other examples are provided in the examples folder.

// Parse URDF
const int n_joints      = 5;
auto model              = import_urdf<double, n_joints>("5_link.urdf");

// Create test configuration, velocity, acceleration and torque vectors
auto q = model.random_configuration();
auto dq = Eigen::Matrix<double, n_joints, 1>::Zero();
auto ddq = Eigen::Matrix<double, n_joints, 1>::Zero();
auto tau = Eigen::Matrix<double, n_joints, 1>::Zero();

// Forward Kinematics
std::string source_link = "base";
std::string target_link = "end_effector";
auto H = forward_kinematics(model, q, target_link, source_link);

// Center of Mass
auto com = center_of_mass(model, q);

// Inverse Kinematics
InverseKinematicsOptions<double, n_joints> options;
options.max_iterations = 1000;
options.tolerance      = 1e-4;
options.method         = InverseKinematicsMethod::LEVENBERG_MARQUARDT;
auto q_solution             = inverse_kinematics(model, target_link, source_link, H, q, options);

// Jacobian
auto J = jacobian(model, q, target_link);

// Forward Dynamics
auto acceleration = forward_dynamics(model, q, dq, tau);

// Inverse Dynamics
auto torque = inverse_dynamics(model, q, dq, ddq);

// Mass Matrix
auto M = mass_matrix(model, q);

// Kinetic Energy
auto T = kinetic_energy(model, q, dq);

// Potential Energy
auto V = potential_energy(model, q);

// Total Energy
auto E = total_energy(model, q, dq);