Rigid Body Dynamics Library
This is the documentation of RBDL, the Rigid Body Dynamics Library. The library contains highly efficient code for both forward and inverse dynamics. It includes:
Furthermore it contains functions for forward and inverse kinematics and contact handling.
For optimal performance it is advised to use version 3 of the Eigen Eigen math library. More information about it can be found here: http://eigen.tuxfamily.org/. The library must be obtained and installed separately.
You can download the most recent stable version as zip file from here:
All development takes place on Bitbucket and you can follow RBDL's development here:
A simple example for creation of a model and computation of the forward dynamics using the C++ API can be found here.
The page API Changes contains information about incompatibilities of the existing versions and how to migrate.
The library is published under the very permissive zlib free software license which should allow you to use the software wherever you need. Here is the full license text:
RBDL - Rigid Body Dynamics Library Copyright (c) 2011-2012 Martin Felis <firstname.lastname@example.org> This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution.