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Martin Felis  committed 48f1a09

updated README, licensing information and some documentation

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 doc/html/*
 doc/notes/*.aux
 doc/notes/*.pdf
+
 Debug/*
 Release/*
 RelWithDebInfo/*
+build/*
+
 .*.swp
 CMakeFiles/*
 cmake_install.cmake
 RBDL - Rigid Body Dynamics Library
-Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
 
 (zlib license)
 
 RBDL - Rigid Body Dynamics Library
+Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
 
-This code is mainly an C++ implementation of Roy Featherstone's Articulated
-Body Algorithm (ABA) written by Martin Felis. The code tightly follows the
-notation used in Featherstone's book "Rigid Body Dynamics Algorithm".
+INTRODUCTION
+
+The RBDL is a highly efficient C++ library that contains some essential
+rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA)
+for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the
+Composite Rigid Body Algorithm (CRBA) for the efficient computation of
+the joint space inertia matrix. It further contains code for forward and
+inverse kinematics and handling of external constraints such as contacts
+and collisions.
+
+The code was written by Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+and tightly follows the notation used in Roy Featherstone's book "Rigid
+Body Dynamics Algorithm".
 
 DOCUMENTATION
 
 To create the documentation simply run
   doxygen Doxyfile
 which will generate the documentation in the subdirectory ./doc/html. The
-mainpage will then be located in ./doc/html/index.html.
+main page will then be located in ./doc/html/index.html.
+
+BUILDING AND INSTALLATION
+
+The RBDL is built using CMake (http://www.cmake.org). To compile the
+library in a separate directory in Release mode use:
+  mkdir build
+	cd build/
+	cmake ../ -D CMAKE_BUILD_TYPE=Release
+	make
 
 LICENSING
 
 The library is published under the very permissive zlib free software
-license which should allow you to use the software wherever you need. For
-details see LICENSE file.
+license which should allow you to use the software wherever you need. 
+
+This is the full license text:
+-------
+RBDL - Rigid Body Dynamics Library
+Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+
+(zlib license)
+
+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.
+-------
 
 Please note that this library also comes with the Eigen3 library which is
-licensed under the GPL version 2 or later. See http://eigen.tuxfamily.org
-for licensing details.
+licensed under the GNU Lesser General Public License 3 or (at your option)
+later. See http://eigen.tuxfamily.org for licensing details.

File addons/benchmark/benchmark.cc

 		<< " #samples: " << sample_count 
 		<< " duration = " << setw(10) << duration << "(s)"
 		<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
-	
+
+	cout << "36 DOF estimate: " << (duration / sample_count) * (36. / model->dof_count) << endl;;
+
 	return duration;
 }
 

File doc/Mainpage.h

 /** \file Mainpage.h 
  * \mainpage Rigid Body Dynamics Library
+ 
+ * This is the documentation the Rigid Body Dynamics Library. The library
+ * contains highly efficient code for both forward and inverse dynamics. It
+ * includes:
+ * 
+ * \li Recursive Newton Euler Algorithm
+ * \li Composite Rigid Body Algorithm
+ * \li Articulated Body Algorithm.
  *
- * This is the documentation of a yet to be named rigid body simulation
- * code. So far the code supports forward and inverse dynamics by using the
- * Articulated Body Algorathm and the Newton-Euler algorithm, respectively.
- * Additionally it also containes the Composite Rigid Body Algorithm that
- * computes the joint space inertia matrix.
+ * Furthermore it contains functions for forward and inverse kinematics and
+ * contact handling.
  *
  * The code is written by <a
  * href="mailto:martin.felis@iwr.uni-heidelberg.de">Martin Felis
  * information about it can be found here:
  * <a href="http://eigen.tuxfamily.org/">http://eigen.tuxfamily.org/</a>.
  *
- * Documentation of the functions can be found at the documentation page of
- * the namespace RigidBodyDynamics.
- *
  * \section ModelConstruction Construction of Models
  *
  * The construction of \link RigidBodyDynamics::Model Models \endlink makes
  * Here is the full license text:
  * \verbatim
 RBDL - Rigid Body Dynamics Library
-Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
 
 This software is provided 'as-is', without any express or implied
 warranty. In no event will the authors be held liable for any damages

File examples/example.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */
 #include <rbdl.h>
 
 using namespace RigidBodyDynamics;
+using namespace RigidBodyDynamics::Math;
 
 int main (int argc, char* argv[]) {
 	Model* model = NULL;
 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Contacts.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Contacts.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Dynamics.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Dynamics.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Dynamics_experimental.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Joint.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */
 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Kinematics.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Kinematics.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Logging.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/Logging.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/MatrixAddons.h

+/*
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ *
+ * Licensed under the zlib license. See LICENSE for more details.
+ */
+
 #ifndef _MATRIXADDONS_H
 #define _MATRIXADDONS_H
 

File src/Model.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */
 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/SpatialAlgebraOperators.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/compileassert.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */
 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/rbdl_config.h.cmake

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/rbdl_math.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/rbdl_mathutils.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/rbdl_mathutils.h

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */

File src/rbdl_version.cc

 /*
- * RBDL - Rigid Body Library
- * Copyright (c) 2011 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * RBDL - Rigid Body Dynamics Library
+ * Copyright (c) 2011-2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
  *
  * Licensed under the zlib license. See LICENSE for more details.
  */