ROBOOP, A Robotics Object Oriented Package in C++

Clik  Handle Closed Loop Inverse Kinematics scheme 
Computed_torque_method  Computer torque method controller class 
Config  Handle configuration files 
Control_Select  Select controller class 
Data  Basic data element used in Config class 
Dynamics  Dynamics simulation handling class 
New_dynamics  This is an example of customize Dynamics class 
GNUcurve  Object for one curve 
Impedance  Impedance controller class 
IO_matrix_file  Read and write data at every iterations in a file 
Plot_file  Creates a graphic from a data file 
Link  Link definitions 
LinkStewart  LinkStewart definitions 
Plot2d  2d plot object 
Plot_file  Creates a graphic from a data file 
Plot3d  3d plot object 
Proportional_Derivative  Proportional derivative controller class 
Quaternion  Quaternion class definition 
Resolved_acc  Resolved rate acceleration controller class 
Robot_basic  Virtual base robot class 
mRobot  Modified DH notation robot class 
mRobot_min_para  Modified DH notation and minimal inertial parameters robot class 
Robot  DH notation robot class 
Spl_cubic  Natural cubic splines class 
Spl_path  Cartesian or joint space trajectory 
Spl_Quaternion  Cubic quaternions spline 
Stewart  Stewart definitions 
Trajectory_Select  Trajectory class selection 