KrisLibrary  1.0.0
Here is a list of all modules:
 StandardCommonly used classes/routines
 KinematicsClasses to define robot kinematics
 MotionPlanningClasses to assist in motion planning
 StatisticsVarious statistical algorithms
 GLDrawOpenGL, GLUT, and GLUI drawing routines
 GraphTemplate classes for general graph computations
 MathDefinitions of mathematical concepts and numerical algorithms
 Math3DDefinitions of 3D math classes and functions
 MeshingClasses defining operations on basic triangle meshes
 OptimizationOptimization routines – linear programming, quadratic programming, least squares, nonlinear programming, complimentarity problems