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ARB

v0.7.0 Feature

This release adds 2 notable features for engineering teams evaluating rollout.

Published 3mo Model Serving & MLOps
✓ No known CVEs patched
Read the diff → Tool health → What is this tool? →

✓ No known CVEs patched in this version

Topics

aba articulated-robots autodiff automatic-differentiation computer-graphics cpp23
+10 more
crba featherstone gjk glm kinematic-trees newton-euler rbdl rigid-body-dynamics rnea urdf

Summary

AI summary

Moved joint motion space representation from 2D array S[i][j] to flat 1D S[i], improving BDynamics::forward() performance.

Full changelog

Stable release.
Main improvement is moving from a 2D joint motion space representation S[i][j] to a flat 1D memory structure S[i].
This improves BDynamics::forward() performance quite a bit.
Fixed some typos and added some constexpr.

View diff on GitHub

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Beta — feedback welcome: [email protected]