Amino

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