├── .github └── workflows │ ├── ci.yml │ └── doxygen.yml ├── .gitignore ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── bindings ├── CMakeLists.txt ├── python │ └── CMakeLists.txt └── roboticslab_kinematics_dynamics.i ├── cmake └── find-modules │ └── FindGTestSources.cmake ├── doc ├── CMakeLists.txt ├── fig │ └── kinematics-dynamics.png ├── groups.dox ├── kinematics-dynamics-install.md ├── kinematics-dynamics.bib └── teo-post-install.md ├── examples ├── cpp │ ├── CMakeLists.txt │ ├── exampleCartesianControlClient │ │ ├── CMakeLists.txt │ │ └── exampleCartesianControlClient.cpp │ ├── exampleScrewTheoryTrajectory │ │ ├── CMakeLists.txt │ │ ├── TrajectoryThread.cpp │ │ ├── TrajectoryThread.hpp │ │ └── exampleScrewTheoryTrajectory.cpp │ └── exampleYarpTinyMath │ │ ├── CMakeLists.txt │ │ └── exampleYarpTinyMath.cpp └── python │ ├── exampleCartesianControlClient.py │ └── exampleKdlSolverFromFile.py ├── libraries ├── CMakeLists.txt ├── KdlSolverUtils │ ├── CMakeLists.txt │ ├── KdlSolverUtils.cpp │ └── KdlSolverUtils.hpp ├── KdlVectorConverterLib │ ├── CMakeLists.txt │ ├── KdlVectorConverter.cpp │ └── KdlVectorConverter.hpp ├── KinematicRepresentationLib │ ├── CMakeLists.txt │ ├── KinematicRepresentation.cpp │ └── KinematicRepresentation.hpp ├── ScrewTheoryLib │ ├── CMakeLists.txt │ ├── ConfigurationSelector.cpp │ ├── ConfigurationSelector.hpp │ ├── ConfigurationSelectorHumanoidGait.cpp │ ├── ConfigurationSelectorLeastOverallAngularDisplacement.cpp │ ├── LogComponent.cpp │ ├── LogComponent.hpp │ ├── MatrixExponential.cpp │ ├── MatrixExponential.hpp │ ├── PadenKahanSubproblems.cpp │ ├── PardosGotorSubproblems.cpp │ ├── ProductOfExponentials.cpp │ ├── ProductOfExponentials.hpp │ ├── ScrewTheoryIkProblem.cpp │ ├── ScrewTheoryIkProblem.hpp │ ├── ScrewTheoryIkProblemBuilder.cpp │ ├── ScrewTheoryIkSubproblems.hpp │ ├── ScrewTheoryTools.cpp │ └── ScrewTheoryTools.hpp ├── YarpPlugins │ ├── AsibotSolver │ │ ├── AsibotConfiguration.cpp │ │ ├── AsibotConfiguration.hpp │ │ ├── AsibotConfigurationLeastOverallAngularDisplacement.cpp │ │ ├── AsibotSolver.cpp │ │ ├── AsibotSolver.hpp │ │ ├── AsibotSolver_ParamsParser.cpp │ │ ├── AsibotSolver_ParamsParser.h │ │ ├── AsibotSolver_params.md │ │ ├── CMakeLists.txt │ │ ├── DeviceDriverImpl.cpp │ │ ├── ICartesianSolverImpl.cpp │ │ ├── LogComponent.cpp │ │ ├── LogComponent.hpp │ │ └── TrajGen.hpp │ ├── BasicCartesianControl │ │ ├── BasicCartesianControl.cpp │ │ ├── BasicCartesianControl.hpp │ │ ├── BasicCartesianControl_ParamsParser.cpp │ │ ├── BasicCartesianControl_ParamsParser.h │ │ ├── BasicCartesianControl_params.md │ │ ├── CMakeLists.txt │ │ ├── DeviceDriverImpl.cpp │ │ ├── ICartesianControlImpl.cpp │ │ ├── LogComponent.cpp │ │ ├── LogComponent.hpp │ │ └── PeriodicThreadImpl.cpp │ ├── CMakeLists.txt │ ├── CartesianControlClient │ │ ├── CMakeLists.txt │ │ ├── CartesianControlClient.hpp │ │ ├── CartesianControlClient_ParamsParser.cpp │ │ ├── CartesianControlClient_ParamsParser.h │ │ ├── CartesianControlClient_params.md │ │ ├── DeviceDriverImpl.cpp │ │ ├── FkStreamResponder.cpp │ │ ├── ICartesianControlImpl.cpp │ │ ├── LogComponent.cpp │ │ └── LogComponent.hpp │ ├── CartesianControlServer │ │ ├── CMakeLists.txt │ │ ├── CartesianControlServer.hpp │ │ ├── CartesianControlServer_ParamsParser.cpp │ │ ├── CartesianControlServer_ParamsParser.h │ │ ├── CartesianControlServer_params.md │ │ ├── DeviceDriverImpl.cpp │ │ ├── IWrapperImpl.cpp │ │ ├── LogComponent.cpp │ │ ├── LogComponent.hpp │ │ ├── PeriodicThreadImpl.cpp │ │ ├── RpcResponder.cpp │ │ └── StreamResponder.cpp │ ├── CartesianControlServerROS2 │ │ ├── CMakeLists.txt │ │ ├── CartesianControlServerROS2.cpp │ │ ├── CartesianControlServerROS2.hpp │ │ ├── CartesianControlServerROS2_ParamsParser.cpp │ │ ├── CartesianControlServerROS2_ParamsParser.h │ │ ├── CartesianControlServerROS2_params.md │ │ ├── DeviceDriverImpl.cpp │ │ ├── IWrapperImpl.cpp │ │ ├── LogComponent.cpp │ │ ├── LogComponent.hpp │ │ ├── PeriodicThreadImpl.cpp │ │ ├── README.md │ │ ├── Spinner.cpp │ │ ├── Spinner.hpp │ │ └── fig │ │ │ └── CartesianControlServer_ROS2-YARP.png │ ├── ICartesianControl.h │ ├── ICartesianSolver.h │ ├── KdlSolver │ │ ├── CMakeLists.txt │ │ ├── ChainFkSolverPos_ST.cpp │ │ ├── ChainFkSolverPos_ST.hpp │ │ ├── ChainIkSolverPos_ID.cpp │ │ ├── ChainIkSolverPos_ID.hpp │ │ ├── ChainIkSolverPos_ST.cpp │ │ ├── ChainIkSolverPos_ST.hpp │ │ ├── DeviceDriverImpl.cpp │ │ ├── ICartesianSolverImpl.cpp │ │ ├── KdlSolver.hpp │ │ ├── KdlSolver_ParamsParser.cpp │ │ ├── KdlSolver_ParamsParser.h │ │ ├── KdlSolver_params.md │ │ ├── LogComponent.cpp │ │ └── LogComponent.hpp │ └── KdlTreeSolver │ │ ├── CMakeLists.txt │ │ ├── DeviceDriverImpl.cpp │ │ ├── ICartesianSolverImpl.cpp │ │ ├── KdlTreeSolver.hpp │ │ ├── KdlTreeSolver_ParamsParser.cpp │ │ ├── KdlTreeSolver_ParamsParser.h │ │ ├── KdlTreeSolver_params.md │ │ ├── LogComponent.cpp │ │ └── LogComponent.hpp └── YarpTinyMathLib │ ├── CMakeLists.txt │ ├── YarpTinyMath.cpp │ └── YarpTinyMath.hpp ├── programs ├── CMakeLists.txt ├── ftCompensation │ ├── CMakeLists.txt │ ├── FtCompensation.cpp │ ├── FtCompensation.hpp │ └── main.cpp ├── haarDetectionController │ ├── CMakeLists.txt │ ├── GrabberResponder.cpp │ ├── GrabberResponder.hpp │ ├── HaarDetectionController.cpp │ ├── HaarDetectionController.hpp │ ├── LogComponent.cpp │ ├── LogComponent.hpp │ └── main.cpp ├── keyboardController │ ├── CMakeLists.txt │ ├── KeyboardController.cpp │ ├── KeyboardController.hpp │ ├── LinearTrajectoryThread.cpp │ ├── LinearTrajectoryThread.hpp │ ├── LogComponent.cpp │ ├── LogComponent.hpp │ └── main.cpp └── streamingDeviceController │ ├── CMakeLists.txt │ ├── CentroidTransform.cpp │ ├── CentroidTransform.hpp │ ├── LeapMotionSensorDevice.cpp │ ├── LeapMotionSensorDevice.hpp │ ├── LogComponent.cpp │ ├── LogComponent.hpp │ ├── SpnavSensorDevice.cpp │ ├── SpnavSensorDevice.hpp │ ├── StreamingDevice.cpp │ ├── StreamingDevice.hpp │ ├── StreamingDeviceController.cpp │ ├── StreamingDeviceController.hpp │ ├── WiimoteDevice.cpp │ ├── WiimoteDevice.hpp │ └── main.cpp ├── ros2 ├── CMakeLists.txt └── workspace │ └── src │ ├── rl_cartesian_control_msgs │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ └── Inv.srv │ └── spacenav_device │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── spacenav_device.hpp │ ├── package.xml │ └── src │ └── spacenav_device.cpp ├── scripts └── python │ ├── README.md │ ├── find-reachable-cuboid.py │ ├── kdl-from-csv.py │ └── roboview-from-csv.py ├── share ├── CMakeLists.txt ├── applications │ ├── ftCompensation.xml │ └── ymanager.ini └── contexts │ ├── ftCompensation-lacquey.ini │ ├── ftCompensation-stump.ini │ ├── streamingDeviceController.ini │ ├── testAsibotSolverFromFile.ini │ └── testKdlSolverFromFile.ini └── tests ├── CMakeLists.txt ├── testAsibotSolverFromFile.cpp ├── testBasicCartesianControl.cpp ├── testKdlSolver.cpp ├── testKdlSolverFromFile.cpp ├── testKinRepresentation.cpp └── testScrewTheory.cpp 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