New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

What's difference between RBDyn and RBDL? #80

Open

zoukj opened this issue Apr 30, 2021 · 1 comment

zoukj commented Apr 30, 2021

what are the advantages of this package?

briansoe66 commented May 11, 2021 •

edited

Loading

I have tried both. Both implement the Featherstone rigid body algorithms. Here's a few differences:

Advantages of RBDL

more well-known
can handle closed-chain robots, via a contstraint set + optimization solver
standard file structure (headers are in the include folder instead of the the src file)
relatively simple cmake build with few dependencies

Advantages of RBDyn

more active development. I think the original author of RBDL (martin felix) stopped development
computes coriolis matrix, which is needed to compute the derivative of the mass matrix

I'm sure there are many more differences, but these are the ones I've encountered in my basic usage.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment