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This repository will provide all the details required to successful pass the Introduction to Robotics course.

Single header C++ library for reverse-mode automatic differentiation

Compute the block upper triangular form (BTF) of sparse square matrices. The BTF code is taken from KLU/SuiteSparse of Tim Davis. The upstream URL is http://faculty.cse.tamu.edu/davis/suitesparse.html.

Copy of the google test library but with our own tailored CMakeLists.txt. The upstream URL is https://github.com/google/googletest.

Linear algebra package. Contains version 3.3.7 of Eigen3 plus our own modifications to enable adjoint and transpose solve for Eigen::SparseLU. The upstream URL is http://eigen.tuxfamily.org.

Copy of the google benchmark library for micro benchmarks. The upstream URL is https://github.com/google/benchmark.

CMake project for the antlr4 parser generator. Currently the complete java archive of antlr-4.7.2 is maintained. Main author of antlr4 is Terence Parr. The upstream URL is https://www.antlr.org/.

Runtime library for the C++ target of antlr-4.7.2. Main authors are Terence Parr and Mike Lischke. Source code is from https://www.antlr.org/download/antlr4-cpp-runtime-4.7.2-source, but with our own CMakeLists.txt.