README

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![Amino Logo](doc/logo-medium.png)

Amino is library of basic utilities for robotics software.  It covers
mathematical and linear algebra routines, memory management,
time-handling, and various utilities.

FEATURES
========

* Extensive support for SE(3) representations and operations,
  including velocities and derivatives
* Kinematic robot models as scene graphs / kinematic trees
* Visualization using OpenGL and POVRay
* Lightweight BLAS/LAPACK wrapper handling allocation
* O(1) Memory Region Allocator

INSTALLATION
============

Obtaining Amino
---------------

* Via git:

        git clone --recursive https://github.com/golems/amino.git
        cd amino && autoreconf -i

* Via [distribution tarball](http://code.golems.org/src/amino/)

Building Amino
--------------

    ./configure && make && make install

See the [INSTALL](http://amino.golems.org/installation.html) file and
`./configure --help` for details and dependencies.

DOCUMENTATION
=============

* [Manual](http://amino.golems.org), and `./doc/manual/`
* Examples `./demos/`

PUBLICATIONS
============
* N. T. Dantam (2021), [Robust and efficient forward, differential,
  and inverse kinematics using dual
  quaternions](https://doi.org/10.1177%2F0278364920931948), The
  International Journal of Robotics Research, 40(10--11),
  pp. 1087--1105.
* N. T. Dantam (2020). [Practical Exponential Coordinates Using
  Implicit Dual
  Quaternions](http://dx.doi.org/10.1007/978-3-030-44051-0_37). In:
  Morales, M., Tapia, L., Sánchez-Ante, G., Hutchinson, S. (eds)
  Algorithmic Foundations of Robotics XIII. WAFR 2018. Springer
  Proceedings in Advanced Robotics, vol 14. Springer, Cham.
* Z. K. Kingston, N. T. Dantam and L. E. Kavraki, [Kinematically
  constrained workspace control via linear
  optimization](http://dx.doi.org/10.1109/HUMANOIDS.2015.7363455),
  2015 IEEE-RAS 15th International Conference on Humanoid Robots
  (Humanoids), 2015, pp. 758-764

PRESENTATIONS
=============

* N. T. Dantam. [University of Washington Robotics
  Colloquium](https://youtu.be/0zDaZ6JVQkk?t=31m01s). 2019.