4 Amino is package of basic utilites for robotics software. It
5 includes mathematical and linear algebra routines, memory
6 management, and time-handling. Design goals are easy integration,
7 efficiency, and simplicity.
9 - **Source Code:** https://github.com/golems/amino
10 - **License:** 3-clause BSD (permissive)
13 <iframe src="carousel.html" style="float:right" width="640" height="480"></iframe>
20 Extensive SE(3) Support
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23 * Menagerie of Representations:
24 - Rotation and Transformation Matrices
25 - Ordinary Quaternions
28 - Axis-Angle / Rotation-Vector / Log-map
30 * Derivatives and Exact Integration
31 * Numerically stable log and exponential
37 * Import robot geometry from URDF and mesh files
38 * Real-time visualization via OpenGL and SDL
39 * Offline raytracing via POV-ray
40 * Distribute POV-ray rendering over multiple machines
42 Region-based Memory Allocation
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45 * Container for LIFO-ordered memory allocation
46 * O(1) allocation and deallocation
53 Amino provides some light-weight wrappers over BLAS and LAPACK plus
54 a few other convenience routines. Care is taken to avoid
55 heap-allocation in all calls, making performance suitable for
58 * Lightweight LAPACK wrapper:
59 Handles work-array creation for LAPACK using memory regions
60 * Multiple Runge-Kutta integrators, including adaptive integrators