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RBDL - Rigid Body Dynamics Library
Copyright (c) 2011-2012 Martin Felis <>


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 <>
and tightly follows the notation used in Roy Featherstone's book "Rigid
Body Dynamics Algorithm".


The documentation is contained in the code and can be extracted with the
tool doxygen (

To create the documentation simply run
  doxygen Doxyfile
which will generate the documentation in the subdirectory ./doc/html. The
main page will then be located in ./doc/html/index.html.


The RBDL is built using CMake ( To compile the
library in a separate directory in Release mode use:
  mkdir build
	cd build/
	cmake ../ -D CMAKE_BUILD_TYPE=Release


The library is published under the very permissive zlib free software
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 <>

(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

Please note that this library also comes with the Eigen3 library which is
licensed under the GNU Lesser General Public License 3 or (at your option)
later. See for licensing details.