Kindr
Kinematics and Dynamics for Robotics

This library defines an interface for the time derivative of a pose (position and orientation) of a rigid body or a (displacement) frame to enable different representations of a time derivative of a pose (twist, etc.).
The class kindr::PoseDiffBase serves as an interface for the time derivative of a pose of a rigid body, i.e. the position and orientation of a rigid body. All types of representations of time derivatives of a pose, such as twist motions, are derived from this base class.
The class kindr::Twist implements a 6d twist:
where is the linear velocity in bodyfixed frame and is the local angular velocity.