Lightweight robotics utility library
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README.md

Build Status

Amino Logo

Amino is library of basic utilities for robotics software. It covers mathematical and linear algebra routines, memory management, time-handling, and various utilities.

FEATURES

  • Extensive support for SE(3) representations and operations, including velocities and derivatives
  • Kinematic robot models as scene graphs / kinematic trees
  • Visualization using OpenGL and POVRay
  • Lightweight BLAS/LAPACK wrapper handling allocation
  • O(1) Memory Region Allocator

INSTALLATION

Obtaining Amino

  • Via git:

      git clone --recursive https://github.com/golems/amino.git
      cd amino && autoreconf -i
    
  • Via distribution tarball

Building Amino

./configure && make && make install

See the INSTALL file and ./configure --help for details and dependencies.

DOCUMENTATION

  • Manual, and ./doc/manual/
  • Examples ./demos/