Package: libdart-dev (6.12.1+dfsg4-13.1 and others) [debports]

[ Source:  ]

Kinematics Dynamics and Optimization Library - development files

DART is a collaborative, cross-platform, open source library created by the Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by it's accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and computation of Lagrange's equations derived from D.Alembert's principle to describe the dynamics of motion. For developers, in contrast to many popular physics engines which view the simulator as a black box, DART gives full access to internal kinematic and dynamic quantities, such as the mass matrix, Coriolis and centrifugal forces, transformation matrices and their derivatives. DART also provides efficient computation of Jacobian matrices for arbitrary body points and coordinate frames. Contact and collision are handled using an implicit time-stepping, velocity-based LCP (linear-complementarity problem) to guarantee non-penetration, directional friction, and approximated Coulomb friction cone conditions. For collision detection, DART uses FCL developed by Willow Garage and the UNC Gamma Lab. DART has applications in robotics and computer animation because it features a multibody dynamic simulator and tools for control and motion planning. Multibody dynamic simulation in DART is an extension of RTQL8, an open source software created by the Georgia Tech Graphics Lab.

This package contains main headers and other tools for development.

Other Packages Related to libdart-dev

• dep: libassimp-dev

  3D model import library (development)

• dep: libboost-all-dev

  Boost C++ Libraries development files (ALL) (default version)

• dep: libbullet-dev

  professional 3D Game Multiphysics Library -- development files

• dep: libdart-external-convhull-3d-dev

  Kinematics Dynamics and Optimization Library - convhull-3d dev

• dep: libdart-external-odelcpsolver-dev

  Kinematics Dynamics and Optimization Library - odelcpsolver dev

• dep: libdart6.12t64 (= 6.12.1+dfsg4-13.1+b2)

  Kinematics Dynamics and Optimization Library - main library

• dep: libeigen3-dev

  lightweight C++ template library for linear algebra

• dep: libfcl-dev

  Flexible Collision Library - development files

Download libdart-dev

Download for all available architectures

Architecture	Version	Package Size	Installed Size	Files
alpha (unofficial port)	6.12.1+dfsg4-13.1+b2	214.2 kB	2,036.0 kB	[list of files]