What's difference between RBDyn and RBDL?

[zoukj]

what are the advantages of this package?

[briansoe66]

I have tried both. Both implement the Featherstone rigid body algorithms. Here's a few differences:

Advantages of RBDL

• more well-known
• can handle closed-chain robots, via a contstraint set + optimization solver
• standard file structure (headers are in the include folder instead of the the src file)
• relatively simple cmake build with few dependencies

Advantages of RBDyn

• more active development. I think the original author of RBDL (martin felix) stopped development
• computes coriolis matrix, which is needed to compute the derivative of the mass matrix

I'm sure there are many more differences, but these are the ones I've encountered in my basic usage.