Why to use KDL?

• Extensive support for :
  • Geometric primitives: point, frame, twist ...
  • Kinematic Chains: serial and tree structures
  • Kinematic Solvers: various generic forward and inverse kinematic algorithms, redundancy resolution, ...
  • Instantaneous Motions: under construction (Expected release, Spring 2011)
  • Motion Trajectories: Cartesian paths, velocity profiles, Cartesian trajectories

• Realtime-safe operations/functions whenever relevant: they do not lead to dynamic memory allocations and all of them are deterministic in time.

• Python bindings

• Typekits and transport-kits for Orocos/RTT

• Integrated in ROS

Getting Help

• Mailinglists
• The API documentation
• The Installation Manual