软件包：libdart6.13（6.13.2+ds-1 以及其他的）
试制（Experimental）软件包
警告：这个软件包来自于 experimental 发行版。这表示它很有可能表现出不稳定或者出现 bug ，甚至是导致资料损失。请务必在使用之前查阅 changelog 以及其他潜在的文档。
Kinematics Dynamics and Optimization Library - main library
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 the main library of DART.
其他与 libdart6.13 有关的软件包
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- dep: libassimp5 (>= 5.4.1+ds)
- 3D model import library
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- dep: libc6 (>= 2.38)
- GNU C 语言运行库：共享库
同时作为一个虚包由这些包填实： libc6-udeb
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- dep: libdart-external-odelcpsolver6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - odelcpsolver lib
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- dep: libfcl0.7 (>= 0.7.0)
- Flexible Collision Library - shared library
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- dep: libgcc-s1 (>= 3.0)
- GCC 支持库
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- dep: liboctomap1.9t64 (>= 1.9.7+dfsg)
- 3D occupancy grid mapping approach library for mapping
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- dep: libstdc++6 (>= 13.1)
- GNU 标准 C++ 库，第3版