KSL: Kinematics subroutine library
KSL is a sparse math library written in the C programming language that is targeted to real-time kinematics, dynamics, contact detection, robotics and 3D visualization applications. KSL contains a number of utility functions to transform vectors, screws, coscrews and spatial inertia matrices using the minimum number of operations as described in the KSL documentation at KSL contains routines for performing LU decomposition with complete row and column pivoting, an important component in the robust processing of kinematics and dynamics equations. If you find the code to be useful in your projects, we would love to hear from you. The below tables contain examples of the naming conventions used for KSL datastructures and functions. For a complete list of functions, refer to the KSL website and source code.