Pacer
Pacer is a C++ library (Apache V2.0 license) for robot locomotion
Pacer project is hosted on Github.
Moby
Moby is a C++ library (licensed under Apache V2.0) for dynamic simulation of rigid and multi-bodies (including robots). Moby incorporates cutting edge technology, including (1) simulation in minimal coordinates; (2) continuous collision detection; and (3) fast convex contact models.
The Moby project is hosted on Github.
Ravelin
Ravelin is a C++ library (Apache V2.0 license) for robot kinematics and dynamics with the following features:
- Matrix/vector arithmetic and linear algebra through very reliable BLAS and LAPACK libraries
- Efficient block operations on matrices and vectors (similar to Eigen's segment() and block() functions)
- Minimum templated C++ code for fast compilation
- Iterators for compatibility with STL and Boost algorithms
- Straightforward semantics on memory allocation toward programming for real-time systems
- Rigid body kinematics and dynamics computation, including poses, velocities, accelerations, inertias (both rigid body and articulated body), momenta, and forces
- Frame checking: kinematic and dynamic quantities combined in different frames throw exceptions
The Ravelin project is hosted on Github.
ODEPACK
Debian/Ubuntu packages for ODEPACK (variable stepping ODE solver which Moby is able to utilize) are available here:
odepack_1.0-1_i386.deb [Intel 386] odepack_1.0-1_amd64.deb [AMD x64]