Rigid Body Dynamics Library
Here is a simple example how one can create a meaningless model and compute the forward dynamics for it:
If the library itself is already created, one can compile this example with CMake. In the example folder is a CMakeLists.txt file, that can be used to automatically create the makefiles by using CMake. It uses the script FindRBDL.cmake which can be used to find the library and include directory of the headers.
The FindRBDL.cmake script can use the environment variables RBDL_PATH, RBDL_INCLUDE_PATH, and RBDL_LIBRARY_PATH to find the required files.
To build it manually you have to specify the following compiler and linking switches: