The code is based on featherstone book.

a) link.cpp : To add new link in the robot and declaring links properties.

b) robot.cpp: To add new robot model.

c) id.cpp: To calculate tau using recursive newton wuler method

d) main.cpp: main file to exute test cases.(we can change robot model using this code)

For Robot model we are using json files in /Robot_model folder. There are two test cases, one is 2d planar robot of two link with revolute joint and other one is a ur5 robot with 6 links all revolute joint.

There are header files in /incude folder for the above scripts.

To compile the code just use make. To execute the same on terminal, run ./test1