QuadKD Guide

QuadKD is our kinematics and dynamics library to aid in performing those types of calculations. Some methods are written by hand, others implement RBDL as a backend (mostly for Jacobian and inverse dynamics computation).

The general naming convention for coordinate transformations is

QuadKD::proximallinkToDistallinkFK/IKCoordFrame();

So for example QuadKD::worldToFootFKWorldFrame(); would give the coordinates of the foot frame origin relative to the world frame origin expressed the world frame for a given set of body and joint positions , while QuadKD::legbaseToFootIKLegbaseFrame(); would give the joint positions corresponding to a given foot location specified in the legbase frame.