套件：libdart-dev（6.13.2+ds-1 以及其他的）
試製（Experimental）套件
警告：這個套件來自於 experimental 發行版。這表示它很有可能表現出不穩定或者出現 bug ，甚至是導致資料損失。請務必在使用之前查閱 changelog 以及其他潛在的文件。
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.
其他與 libdart-dev 有關的套件
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- dep: libassimp-dev
- 3D model import library (development)
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- dep: libbullet-dev
- professional 3D Game Multiphysics Library -- development files
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- dep: libdart-external-convhull-3d-dev
- Kinematics Dynamics and Optimization Library - convhull-3d dev
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- dep: libdart-external-odelcpsolver-dev
- Kinematics Dynamics and Optimization Library - odelcpsolver dev
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- dep: libdart6.13 (= 6.13.2+ds-1+b3)
- Kinematics Dynamics and Optimization Library - main library
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- dep: libeigen3-dev
- lightweight C++ template library for linear algebra
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- dep: libfcl-dev
- Flexible Collision Library - development files
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- dep: libspdlog-dev
- Very fast, header only or compiled, C++ logging library