The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line, ...), kinematic chains of various families (serial, humanoid, parallel, mobile, ...), and their motion specification and interpolation.
The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line, ...), kinematic chains of various families (serial, humanoid, parallel, mobile, ...), and their motion specification and interpolation.
To install orocos-kdl, run the following command in macOS terminal (Applications->Utilities->Terminal)
sudo port install orocos-kdl
To see what files were installed by orocos-kdl, run:
port contents orocos-kdl
To later upgrade orocos-kdl, run:
sudo port selfupdate && sudo port upgrade orocos-kdl
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