tmatrix is a small pure C library for linear algebra. It is focused on coordinate transformations and other robotics specific tasks.
The library includes following parts:
- tmatrix.h - main definitions and matrix operations.
- tmatrix_vec.h - vector specific operations.
- tmatrix_homo.h - homogenous transformations and specific simplifications.
- tmatrix_io.h - object print, csv reading and writing.
- tmatrix_rot.h - operations with rotation matrices and quaternions.