III. ARCHITECTURE OVERVIEW
This section provides an architectural overview of the appli-cation by introducing its main components. As shown in Fig. 1, the back-end’s constituent objects are distributed throughout five main packages entitled: mathematics, kinematics, anima- tion, recorder and connectivity.
Fig. 1. Simplified object diagram showing the application’s main packages and their contents.
1) The mathematics package contains libraries for vector, quaternion and matrix transformations. Throughout the
Fig. 2. Main user interface (a) rendering kinematic motion and recorder interface (b).