Amino is library of basic utilities for robotics software. It covers mathematical and linear algebra routines, memory management, time-handling, and various utilities.

• Extensive support for SE(3) representations and operations, including velocities and derivatives
• Kinematic robot models as scene graphs / kinematic trees
• Visualization using OpenGL and POVRay
• Lightweight BLAS/LAPACK wrapper handling allocation
• O(1) Memory Region Allocator

• Via git:

    git clone --recursive https://github.com/golems/amino.git
    cd amino && autoreconf -i
  

• Via [distribution tarball] (http://code.golems.org/src/amino/)

./configure && make && make install

See the [INSTALL] (http://amino.golems.org/installation.html) file and ./configure --help for details and dependencies.

• [Manual] (http://amino.golems.org), and ./doc/manual/
• Examples ./demos/