Model & Math API

These pages cover compile-time model descriptors, rigid-body dynamics, Lie-group math, solvers, and motion-profile helpers. Open this category when you are working with model-based control or offline analysis tooling.

API Pages

Page	Main types	Description
Model Descriptors	rb::y1_model::A, M, UB	Compile-time robot constants such as DOF, joint ordering, and subsystem index groups.
dyn::Robot	rb::dyn::Robot	Forward kinematics, Jacobians, mass matrices, gravity terms, and inverse dynamics.
dyn::State	rb::dyn::State	Dynamic state container passed into model computations.
dyn::Link	rb::dyn::Link	Link and collision objects used inside a model tree.
dyn::Joint	rb::dyn::Joint	Joint factories, link connections, and joint-limit metadata.
dyn::Inertial	rb::dyn::Inertial	Rigid-body inertia matrix construction and frame transforms.
math::SO3	rb::math::SO3	Rotation construction, conversion, and logarithmic maps.
math::SE3	rb::math::SE3	3D pose transforms and adjoint operations.
math::SE2	rb::math::SE2	Planar pose transforms for base and mobility math.
math::QPSolver	rb::math::QPSolver	Constrained quadratic optimization helpers.
OptimalControl	rb::OptimalControl	Runtime optimal-control solver interface.
TrapezoidalMotionGenerator	rb::TrapezoidalMotionGenerator	Local trapezoidal motion-profile generator.
VelocityFilterEstimator	rb::VelocityFilterEstimator	Filtered scalar velocity estimation from sampled positions.