Forward and inverse kinematics for the 6DoF, 6-UPU class of parallel manipulators referred to as the Stewart-Gough platform, or as hexapods.
Kinematics implementation derived from LinuxCNC's genhexkins .
Requires Eigen 3.
On Ubuntu this can be installed with sudo apt-get install libeigen3-dev.
See test/test_kinematics.cpp for examples.