├── .github ├── dependabot.yml └── workflows │ └── main.yml ├── .gitmodules ├── CHANGELOG.md ├── README.md ├── orocos_kdl ├── CMakeLists.txt ├── COPYING ├── INSTALL.md ├── cmake │ ├── CheckSTLContainers.cmake │ ├── FindEigen3.cmake │ └── FindPkgConfig.cmake ├── cmake_uninstall.cmake.in ├── debian │ ├── README │ ├── README.Debian │ ├── changelog │ ├── compat │ ├── control │ ├── copyright │ ├── docs │ ├── kdl.doc-base.EX │ ├── liborocos-kdl-dev.install │ ├── liborocos-kdl.install │ ├── manpage.1.ex │ ├── python-orocos-kdl.install │ ├── rules │ └── substvars ├── doc │ ├── CMakeLists.txt │ ├── Doxyfile.in │ ├── tests.txt │ └── tex │ │ └── UserManual.tex ├── examples │ ├── CMakeLists.txt │ ├── README │ ├── chainiksolverpos_lma_demo.cpp │ ├── geometry.cpp │ ├── plotframe.m │ ├── trajectory_example.cpp │ └── visualize_trajectory.m ├── manifest.xml ├── models │ ├── CMakeLists.txt │ ├── kukaLWR_DHnew.cpp │ ├── kukaLWRtestDHnew.cpp │ ├── kukaLWRtestHCG.cpp │ ├── models.hpp │ ├── puma560.cpp │ └── puma560test.cpp ├── orocos_kdl-config-version.cmake.in ├── orocos_kdl-config.cmake.in ├── orocos_kdl.pc.in ├── package.xml ├── rosdoc.yaml ├── src │ ├── CMakeLists.txt │ ├── README.txt │ ├── TODO.txt │ ├── articulatedbodyinertia.cpp │ ├── articulatedbodyinertia.hpp │ ├── chain.cpp │ ├── chain.hpp │ ├── chaindynparam.cpp │ ├── chaindynparam.hpp │ ├── chainexternalwrenchestimator.cpp │ ├── chainexternalwrenchestimator.hpp │ ├── chainfdsolver.hpp │ ├── chainfdsolver_recursive_newton_euler.cpp │ ├── chainfdsolver_recursive_newton_euler.hpp │ ├── chainfksolver.hpp │ ├── chainfksolverpos_recursive.cpp │ ├── chainfksolverpos_recursive.hpp │ ├── chainfksolvervel_recursive.cpp │ ├── chainfksolvervel_recursive.hpp │ ├── chainhdsolver_vereshchagin.cpp │ ├── chainhdsolver_vereshchagin.hpp │ ├── chainidsolver.hpp │ ├── chainidsolver_recursive_newton_euler.cpp │ ├── chainidsolver_recursive_newton_euler.hpp │ ├── chainidsolver_vereshchagin.cpp │ ├── chainidsolver_vereshchagin.hpp │ ├── chainiksolver.hpp │ ├── chainiksolverpos_lma.cpp │ ├── chainiksolverpos_lma.hpp │ ├── chainiksolverpos_nr.cpp │ ├── chainiksolverpos_nr.hpp │ ├── chainiksolverpos_nr_jl.cpp │ ├── chainiksolverpos_nr_jl.hpp │ ├── chainiksolvervel_pinv.cpp │ ├── chainiksolvervel_pinv.hpp │ ├── chainiksolvervel_pinv_givens.cpp │ ├── chainiksolvervel_pinv_givens.hpp │ ├── chainiksolvervel_pinv_nso.cpp │ ├── chainiksolvervel_pinv_nso.hpp │ ├── chainiksolvervel_wdls.cpp │ ├── chainiksolvervel_wdls.hpp │ ├── chainjnttojacdotsolver.cpp │ ├── chainjnttojacdotsolver.hpp │ ├── chainjnttojacsolver.cpp │ ├── chainjnttojacsolver.hpp │ ├── config.h.in │ ├── frameacc.cpp │ ├── frameacc.hpp │ ├── frameacc.inl │ ├── frameacc_io.hpp │ ├── frames.cpp │ ├── frames.hpp │ ├── frames.inl │ ├── frames_io.cpp │ ├── frames_io.hpp │ ├── framevel.cpp │ ├── framevel.hpp │ ├── framevel.inl │ ├── framevel_io.hpp │ ├── jacobian.cpp │ ├── jacobian.hpp │ ├── jntarray.cpp │ ├── jntarray.hpp │ ├── jntarrayacc.cpp │ ├── jntarrayacc.hpp │ ├── jntarrayvel.cpp │ ├── jntarrayvel.hpp │ ├── jntspaceinertiamatrix.cpp │ ├── jntspaceinertiamatrix.hpp │ ├── joint.cpp │ ├── joint.hpp │ ├── kdl.hpp │ ├── kinfam.hpp │ ├── kinfam_io.cpp │ ├── kinfam_io.hpp │ ├── motion.hpp │ ├── path.cpp │ ├── path.hpp │ ├── path_circle.cpp │ ├── path_circle.hpp │ ├── path_composite.cpp │ ├── path_composite.hpp │ ├── path_cyclic_closed.cpp │ ├── path_cyclic_closed.hpp │ ├── path_line.cpp │ ├── path_line.hpp │ ├── path_point.cpp │ ├── path_point.hpp │ ├── path_roundedcomposite.cpp │ ├── path_roundedcomposite.hpp │ ├── rigidbodyinertia.cpp │ ├── rigidbodyinertia.hpp │ ├── rotational_interpolation.cpp │ ├── rotational_interpolation.hpp │ ├── rotational_interpolation_sa.cpp │ ├── rotational_interpolation_sa.hpp │ ├── rotationalinertia.cpp │ ├── rotationalinertia.hpp │ ├── segment.cpp │ ├── segment.hpp │ ├── solveri.hpp │ ├── stiffness.hpp │ ├── trajectory.cpp │ ├── trajectory.hpp │ ├── trajectory_composite.cpp │ ├── trajectory_composite.hpp │ ├── trajectory_segment.cpp │ ├── trajectory_segment.hpp │ ├── trajectory_stationary.cpp │ ├── trajectory_stationary.hpp │ ├── tree.cpp │ ├── tree.hpp │ ├── treefksolver.hpp │ ├── treefksolverpos_recursive.cpp │ ├── treefksolverpos_recursive.hpp │ ├── treeidsolver.hpp │ ├── treeidsolver_recursive_newton_euler.cpp │ ├── treeidsolver_recursive_newton_euler.hpp │ ├── treeiksolver.hpp │ ├── treeiksolverpos_nr_jl.cpp │ ├── treeiksolverpos_nr_jl.hpp │ ├── treeiksolverpos_online.cpp │ ├── treeiksolverpos_online.hpp │ ├── treeiksolvervel_wdls.cpp │ ├── treeiksolvervel_wdls.hpp │ ├── treejnttojacsolver.cpp │ ├── treejnttojacsolver.hpp │ ├── utilities │ │ ├── error.h │ │ ├── error_stack.cxx │ │ ├── error_stack.h │ │ ├── hash_combine.h │ │ ├── header.txt │ │ ├── kdl-config.h │ │ ├── ldl_solver_eigen.cpp │ │ ├── ldl_solver_eigen.hpp │ │ ├── rall1d.h │ │ ├── rall1d_io.h │ │ ├── rall2d.h │ │ ├── rall2d_io.h │ │ ├── rallNd.h │ │ ├── scoped_ptr.hpp │ │ ├── svd_HH.cpp │ │ ├── svd_HH.hpp │ │ ├── svd_eigen_HH.cpp │ │ ├── svd_eigen_HH.hpp │ │ ├── svd_eigen_Macie.cpp │ │ ├── svd_eigen_Macie.hpp │ │ ├── traits.h │ │ ├── utility.cxx │ │ ├── utility.h │ │ ├── utility_io.cxx │ │ └── utility_io.h │ ├── velocityprofile.cpp │ ├── velocityprofile.hpp │ ├── velocityprofile_dirac.cpp │ ├── velocityprofile_dirac.hpp │ ├── velocityprofile_rect.cpp │ ├── velocityprofile_rect.hpp │ ├── velocityprofile_spline.cpp │ ├── velocityprofile_spline.hpp │ ├── velocityprofile_trap.cpp │ ├── velocityprofile_trap.hpp │ ├── velocityprofile_traphalf.cpp │ └── velocityprofile_traphalf.hpp └── tests │ ├── CMakeLists.txt │ ├── framestest.cpp │ ├── framestest.hpp │ ├── inertiatest.cpp │ ├── inertiatest.hpp │ ├── iotest.cpp │ ├── jacobiandottest.cpp │ ├── jacobiandottest.hpp │ ├── jacobiandoubletests.cpp │ ├── jacobiandoubletests.hpp │ ├── jacobianframetests.cpp │ ├── jacobianframetests.hpp │ ├── jacobiantest.cpp │ ├── jacobiantest.hpp │ ├── jacobiantests.cpp │ ├── jacobiantests.hpp │ ├── kinfamtest.cpp │ ├── 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