is the core of the geometric_relations_semantics stack and provides c++ code for the semantic support of geometric relations between rigid bodies (relative position, orientation, pose, translational velocity, rotational velocity, twist, force, torque, and wrench).

This is a third party package with external documentation.

The external documentation offers background material, the explanation of the software design, API documentation, Quick start guide (including installation instructions), user guide, tutorials, FAQs, and use cases.