Amino is library of basic utilities for robotics software. It covers mathematical and linear algebra routines, memory management, time-handling, and various utilities.

FEATURES

Extensive support for SE(3) representations and operations, including velocities and derivatives
Kinematic robot models as scene graphs / kinematic trees
Visualization using OpenGL and POVRay
Lightweight BLAS/LAPACK wrapper handling allocation
O(1) Memory Region Allocator

INSTALLATION

Obtaining Amino

Via git:

  git clone --recursive https://github.com/golems/amino.git
  cd amino && autoreconf -i

Via distribution tarball

Building Amino

./configure && make && make install

See the INSTALL file and ./configure --help for details and dependencies.

DOCUMENTATION

Manual, and ./doc/manual/
Examples ./demos/