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-The basic geometry and math libraries used in ROS.
-
-angles:
-Provides a set of simple math utilities to work with angles. The utilities cover
-simple things like normalizing an angle and conversion between degrees and
-radians, but also functions to calculate things like the shortest angular
-distance between two joinst space positions of your robot, with the joint motion
-constrained by joint limits.
-
-bullet:
-Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
-Library. The Bullet library provided by this ROS package is slightly different
-from the official Bullet release.
-
-eigen:
-This package contains version 2.0.15 of the Eigen C++ template library for
-linear algebra.
-
-KDL:
-This package contains a recent version of the Kinematics and Dynamics Library
-(KDL), distributed by the Orocos Project. For stability reasons, this package
-is currently locked to revision 31715, but this revision will be updated on a
-regular basis to the latest available KDL trunk.
-
-tf:
-tf is a package that lets the user keep track of multiple coordinate frames
-over time. tf maintains the relationship between coordinate frames in a tree
-structure buffered in time, and lets the user transform points, vectors, etc
-between any two coordinate frames at any desired point in time.
-
-WWW: http://www.ros.org/wiki/geometry