KDL简介---KDL、PyKDL、pykdl_utils之间关系

KDL是最常用的运动学和动力学库，但其有多个版本，C++的版KDL、Python版本有PyKDL和pykdl_utils，如何选择合适的版本需要我们对其有相关的了解，本文将介绍对应版本的关系。

KDL

先上官网链接https://www.orocos.org/kdl，官网原文介绍如下
Skeleton of a serial robot arm with six revolute joints. This is one example of a kinematic structure, reducing the motion modelling and specification to a geometric problem of relative motion of reference frames. The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line,… ), kinematic chains of various families (serial, humanoid, parallel, mobile,… ), and their motion specification and interpolation.
翻译：
具有六个旋转关节的串联机器人手臂的骨架。这