This manual documents the following main components of the Klampt C++ API:
- Installation
- Organization
- Running apps
- Math
- Kinematic modeling
- Inverse kinematics
- Geometry and appearance
- Paths and trajectories
- Motion planning
- Simulation
- Dynamics and contact mechanics
- Control and sensing
- System integration
- I/O
- File types
- Resource management (incomplete)
Other documentation includes:
Tutorials are available in the Tutorials folder.
- Install Klampt (Linux, Windows, Mac)
- Build and edit a world file(Apps)
- Generate a path/trajectory from keyframes (Apps)
- Animate a video of a path/trajectory (Apps)
- Simulate the execution of a keyframe path (Apps, C++)
- Implement a custom controller for a simulated robot (C++)
- Process clicks on the robot or world (C++)
- Set up a simulated camera sensor and save frames to disk (Apps)
- Import and calibrate a URDF robot (Apps)
- Solve an inverse kinematics problem (C++)
- Grasp an Object (C++)