├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Readme.md ├── cmake ├── FindEigen.cmake ├── FindGTest.cmake └── FindROS.cmake ├── cmake_uninstall.cmake.in ├── doc ├── cheatsheet │ ├── IEEEtran.bst │ ├── IEEEtran.cls │ ├── cheatsheet_kindr1.tex │ ├── cheatsheet_latest.pdf │ ├── coordinate_systems │ │ ├── coordinate_system_rpy_kindr1-crop.pdf │ │ ├── coordinate_system_rpy_kindr1.tex │ │ ├── coordinate_system_ypr_kindr1-crop.pdf │ │ ├── coordinate_system_ypr_kindr1.tex │ │ ├── rotation_active_passive-crop.pdf │ │ ├── rotation_active_passive.pdf │ │ ├── rotation_active_passive.tex │ │ └── tikz-3dplot.sty │ ├── pics │ │ └── rpy.png │ ├── references.bib │ └── styles │ │ └── def.tex ├── doxygen │ ├── CMakeLists.txt │ ├── doc │ │ └── .gitignore │ ├── doxygen.config.in │ ├── figures │ │ ├── EulerAnglesXyz.png │ │ ├── EulerAnglesZyx.png │ │ └── rotation_active_passive.png │ ├── mainpage.dox │ ├── page_pose.dox │ ├── page_posediff.dox │ ├── page_quaternion.dox │ ├── page_rotation.dox │ ├── page_rotationdiff.dox │ └── page_vector.dox └── notes_kindr_1.0.0.md ├── gtesting.txt ├── include └── kindr │ ├── Core │ ├── common │ ├── assert_macros.hpp │ ├── assert_macros_eigen.hpp │ ├── common.hpp │ ├── gtest_eigen.hpp │ └── source_file_pos.hpp │ ├── math │ └── LinearAlgebra.hpp │ ├── phys_quant │ ├── PhysicalQuantities.hpp │ ├── PhysicalType.hpp │ ├── Wrench.hpp │ └── WrenchBase.hpp │ ├── poses │ ├── HomogeneousTransformation.hpp │ ├── Pose.hpp │ ├── PoseBase.hpp │ ├── PoseDiff.hpp │ ├── PoseDiffBase.hpp │ └── Twist.hpp │ ├── quaternions │ ├── Quaternion.hpp │ └── QuaternionBase.hpp │ ├── rotations │ ├── AngleAxis.hpp │ ├── EulerAnglesXyz.hpp │ ├── EulerAnglesXyzDiff.hpp │ ├── EulerAnglesZyx.hpp │ ├── EulerAnglesZyxDiff.hpp │ ├── GlobalAngularVelocity.hpp │ ├── LocalAngularVelocity.hpp │ ├── Rotation.hpp │ ├── RotationBase.hpp │ ├── RotationConversion.hpp │ ├── RotationDiff.hpp │ ├── RotationDiffBase.hpp │ ├── RotationMatrix.hpp │ ├── RotationMatrixDiff.hpp │ ├── RotationQuaternion.hpp │ ├── RotationQuaternionDiff.hpp │ ├── RotationVector.hpp │ └── gtest_rotations.hpp │ └── vectors │ ├── Vector.hpp │ └── VectorBase.hpp ├── kindrConfig.cmake.in ├── matlab ├── core │ ├── boxMinus.m │ ├── boxPlus.m │ ├── getAngleAxisFromRotationMatrix.m │ ├── getEulAngXYZFromRotationMatrix.m │ ├── getEulAngZXZFromRotationMatrix.m │ ├── getEulAngZYXFromRotationMatrix.m │ ├── getEulAngZYZFromRotationMatrix.m │ ├── getMapEulAngZXZDiffToAngVelInWorldFrame.m │ ├── getMapEulAngZYXDDiffToAngAccInBaseFrame.m │ ├── getMapEulAngZYXDDiffToAngAccInWorldFrame.m │ ├── getMapEulAngZYXDiffToAngVelInBaseFrame.m │ ├── getMapEulAngZYXDiffToAngVelInWorldFrame.m │ ├── getMapEulAngZYZDiffToAngVelInWorldFrame.m │ ├── getRotationMatrixX.m │ ├── getRotationMatrixY.m │ ├── getRotationMatrixZ.m │ ├── getTimeDerivative.m │ ├── isRotationMatrix.m │ ├── mapAngleAxisToQuaternion.m │ ├── mapEulerAnglesXYZToRotationMatrix.m │ ├── mapEulerAnglesZXZToRotationMatrix.m │ ├── mapEulerAnglesZYXToRotationMatrix.m │ ├── mapEulerAnglesZYZToRotationMatrix.m │ ├── mapQuaternionToRotationMatrix.m │ ├── mapRotationMatrixToQuaternion.m │ ├── mapRotationMatrixToRotationVector.m │ ├── mapRotationQuaternionToRotationVector.m │ ├── mapRotationVectorToRotationMatrix.m │ ├── rotateVectorUsingQuaternion.m │ ├── skew.m │ └── unskew.m ├── finite_differences │ ├── linearizationExample.m │ └── numerical_jacobian.m ├── utils │ ├── dMATdt.m │ ├── fulldMATdt.m │ ├── fulldiff2.m │ └── rotations.m └── visualization │ ├── addLabelToVector.m │ ├── animateAngularVelocityUsingEulerZYX.m │ ├── animateAngularVelocityUsingExpMap.m │ ├── animateLinearVelocity.m │ ├── visualizeCoordinateSystem.m │ ├── visualizeHomogeneousTransform.m │ ├── visualizeLinearization.m │ ├── visualizeRotationFromAngleAxis.m │ └── visualizeRotationFromRotationVector.m ├── package.xml ├── signature_of_kindr1_library └── test ├── CMakeLists.txt ├── common └── CommonTest.cpp ├── linear_algebra ├── 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