software self-configuration of the CMake build system (auto-generation of CMakeLists.txt from package manifests)

scripts to add stubs for new components

Plug-in based architecture

using IPC (inter process communication)

message format is compatible to CARMEN, the Robot Navigation Toolkit

using the advanced user interface library from wxWidgets

docking toolbars and panels

save and restore views

export and import views to a folder (including all parameters and required files)

C++ Code generation for message classes, including stream readers and writers (serialization and de-serialization)

message filter for recording

adjustable playback speed

automatic stall detection

message grouping (synchronization)

export and import of logfiles as simple text files, easy to import in other software

logfiles have CARMEN compatible format

USB Webcams (via Video for Linux, V4L)

Firewire cameras (via libdc1394)

OpenCV framegrabbers, including input from AVI movie files

Schunk PowerCube modules and

Schunk Force-Torque sensors (FCTL)

Touch sensor from Weiss Robotics

iRobot B21r base controller

fully object-oriented

storage of 3D models in tree structures

import from def files

export to def, ply, wrl, vrml

stream operators for serialization and de-serialization

functions to traverse trees

search for particular elements in tree, replace

add/move/remove nodes, attach nodes to tree, detach

using OpenGL

screenshot export as PNG, JPG

video export as AVI, XVID etc. using mencoder

several 3D viewers can be opened at the same time (top view, side view, etc.)

intuitive camera movements, both with mouse and keyboard

camera flights

store camera poses

move camera with respect to some model parts in the scene (place OpenGL camera at the position of the palm camera, etc.)

C++ classes for translation vectors, homogeneous matrices, rotation matrices, quaternions, euler angles, twists, etc, including assigment operator between these classes

Fast kinematics, using boost matrix/vector classes

Jacobian computation, for all model elements

Inverse kinematics, using KDL

Collision detection

includes PowerCube joints

virtual cameras

collision checking

joint limits

kinematic dynamic library from the orocos project (KDL)

open computer vision library (OpenCV)

augmented reality toolkit (ARToolkit)

C++ wrappers for the gnu scientific library (GSL, FERN)

speeded up robust features (SURF)