Maxima Computer Algebra System library for the analysis of kinematic trees. It includes the following files:
- manipulator.mac - main methods for the manipulator analysis
- rotations.mac - parametrization of rotations
- save_as.mac - save Maxima expression as a Matlab or C code
- inertia.mac - inertial parameters of simple bodies
- fromxml.mac - simple XML parser
Call
maxima -b tests/run.mac
to execute the tests.