wbyates777/Articulated-Rigid-Body

Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

GitHub repository with 17 stars and 1 forks.

Language: C++

Topics: aba, articulated-robots, autodiff, automatic-differentiation, computer-graphics, cpp23, crba, featherstone, gjk, glm

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2026-06-05: 17 stars and 1 forks.

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