1. Eric Cousineau
  2. rbdl-backup

Commits

Author Commit Message Date Builds
Martin Felis
added tests for point velocity/acceleration computation of floating base models
Martin Felis
wip: contact force for floating base models
Martin Felis
working on contact force computation for floating base models
Martin Felis
moved impulse tests into a separate file
Martin Felis
appended 'Tests' to all files in the tests/ folder
Martin Felis
added namespace RigidBodyDynamics and documentation
Martin Felis
ForwardDynamics can now also be used to compute accelerations of floating base models
Martin Felis
wip: impulses...
Martin Felis
wip: contact impulses
Martin Felis
wip: working on impulses
Martin Felis
started to work on impulse handling
Martin Felis
cleaned up some debug output
Martin Felis
contact: multiple contacts work (at least the correct numbers are reproduced)
Martin Felis
working on multiple constraints
Martin Felis
gui: using model from Contact tests and started to implement RK45 integrator
Martin Felis
gui: coordinate frame axes only displayed for bodies with masses
Martin Felis
added a test that compares HuMAnS data that is close to an euler angle singularity
Martin Felis
added test that compares computed contact values to that reported by HuMAnS
Martin Felis
simple contact example now gives same result as HuMAnS model
Martin Felis
contacts: still trying to find a bug concerning contact handling (seems to have problems with the acceleration computation)
Martin Felis
trying to debug false results for the contact dynamics
Martin Felis
abagui: simulation can now be paused, using a RK4 method for the simulation
Martin Felis
added tests for contacts
Martin Felis
point acceleration computation should now follow equations of Featherstone
Martin Felis
working on acceleration computation
Martin Felis
updated documentation and added function to transform body points in base coordinates
Martin Felis
the first contact test runs successful
Martin Felis
fixed adjoint computation of spatial transformations - renamed SpatialMatrix::conjugate() to SpatialMatrix::adjoint() - using the fact X.inverse.().adjoint() == X.transpose() in Dynamics.cc
Martin Felis
fixed Xtrans
Martin Felis
started to rework transformations - current version has some quirks that yield correct results however the formula differs from the book (e.g. Xtrans)
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