amino  1.0-beta2
Lightweight Robot Utility Library
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Amino

Amino is package of basic utilites for robotics software. It includes mathematical and linear algebra routines, memory management, and time-handling. Design goals are easy integration, efficiency, and simplicity.

Features

Visualization

  • Import robot models from:
  • Online 3D visualization using OpenGL and SDL
  • High-quality ray-traced output using POV-ray
    • Network distributed rendering
    • Movie generation using libav
See also
Viewer GUI
scenegraph.h
scene_win.h

Motion Planning Interface

See also
scene_collision.h
scene_planning.h

Extensive SE(3) Support

  • Menagerie of Representations:
    • Rotation and Transformation Matrices
    • Ordinary Quaternions
    • Dual Quaternions
    • Quaternion-Vector
    • Axis-Angle / Rotation-Vector / Log-map
    • Euler Angles
  • Derivatives and Exact Integration
  • Numerically stable logarithm and exponential
See also
tf.h

Region-based Memory Allocation

  • Container for LIFO-ordered memory allocation
  • O(1) allocation and deallocation
See also
mem.h

Linear Algebra

Amino provides some light-weight wrappers over BLAS and LAPACK plus a few other convenience routines. Care is taken to avoid heap-allocation in all calls, making performance suitable for real-time operation.

  • Lightweight LAPACK wrapper: Handles work-array creation for LAPACK using memory regions
  • Multiple Runge-Kutta integrators, including adaptive integrators
See also
math.h