Thanks for the interest! KSL is not affiliated with JPL in any way, (other than the fact that I work there). KSL is a personal project. It is used as the math l

Thanks for the interest! KSL is not affiliated with JPL in any way, (other than the fact that I work there). KSL is a personal project. It is used as the math library for a multibody dynamics simulation software I am working on called "Shift", which is still under development. The notation for the data structures and documentation follows my thesis. My goal is to provide a standalone resource for people to learn the theory and the code. The library is small and lightweight, written in C, and may be useful in other applications such as embedded systems, model-based control, etc. The documentation is a work in progress and will evolve over time.