KSL is a sparse math library written in the C programming language that is targeted to real-time kinematics, dynamics, contact detection, robotics and 3D visualization applications.

KSL contains a number of utility functions to transform vectors, screws, coscrews and spatial inertia matrices using the minimum number of operations as described in this documentation. Additionally, KSL contains routines for performing LU decomposition with complete row and column pivoting, an important component in the robust processing of kinematics and dynamics equations.

The code is available open-source with minimal restrictions. If you find the code to be useful in your projects, we would love to hear from you.

This website is a work in progress. Please refer to the GitHub issues page for the latest development status.