A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
The fastest automatic differentiation library for C++, with Python bindings. Forward, adjoint and higher-order derivatives, checkpointing, Eigen support and JIT. Reproducible benchmarks against CppAD, Adept and autodiff.