Amino is package of basic utilites for robotics software. It includes mathematical and linear algebra routines, memory management, and time-handling. Design goals are easy integration, efficiency, and simplicity.

Installation
License: 3-clause BSD (permissive)
Source Code: git clone https://github.com/golems/amino.git

Features

Visualization

Import robot models from:
- Scene Files
- any Blender-supported mesh
- URDF
Online 3D visualization using OpenGL and SDL
High-quality ray-traced output using POV-ray
- Network distributed rendering
- Movie generation using libav

See also: Viewer GUI; scenegraph.h; scene_win.h

Motion Planning Interface

Interface to the Flexible Collision Library (FCL)
Interface to the Open Motion Planning Library (OMPL)

See also: scene_collision.h; scene_planning.h

Extensive SE(3) Support

Menagerie of Representations:
- Rotation and Transformation Matrices
- Ordinary Quaternions
- Dual Quaternions
- Quaternion-Vector
- Axis-Angle / Rotation-Vector / Log-map
- Euler Angles
Derivatives and Exact Integration
Numerically stable logarithm and exponential

See also: tf.h

Region-based Memory Allocation

Container for LIFO-ordered memory allocation
O(1) allocation and deallocation

See also: mem.h

Linear Algebra

Amino provides some light-weight wrappers over BLAS and LAPACK plus a few other convenience routines. Care is taken to avoid heap-allocation in all calls, making performance suitable for real-time operation.

Lightweight LAPACK wrapper: Handles work-array creation for LAPACK using memory regions
Multiple Runge-Kutta integrators, including adaptive integrators

See also: math.h