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Martin  Felis avatarMartin Felis
generating now rbdlconfig.h that contains all settings, also Eigen3 is now activated if no special #defines are specified
Branches
dev
Martin  Felis avatarMartin Felis
visualization should work again
Branches
dev
Martin  Felis avatarMartin Felis
added impulse computation by using the Lagrangian equation
Branches
dev
Martin  Felis avatarMartin Felis
simple math library seems to work for most cases
Branches
dev
Martin  Felis avatarMartin Felis
trying to replace cml entirely by a slow but fast compiling custom math library
Branches
dev
Martin  Felis avatarMartin Felis
tried to get the cml math library compatible again (for the generator) - so far no luck
Branches
dev
Martin  Felis avatarMartin Felis
improved documentation
Branches
dev
Martin Felis avatarMartin Felis
merge
Branches
dev
Martin Felis avatarMartin Felis
added another constructor for Body
Branches
dev
Martin  Felis avatarMartin Felis
crossm(v1,v2) was replaced by its explicit expression which makes it a bit faster
Branches
dev
Martin  Felis avatarMartin Felis
fixed bug in FDLagrangian caused by CRBA not updating joint axes (added warning in the documentation of CRBA)
Branches
dev
Martin  Felis avatarMartin Felis
added another simple test
Branches
dev
Martin  Felis avatarMartin Felis
added a simple test
Branches
dev
Martin  Felis avatarMartin Felis
fixed some build issues under MacOS
Branches
dev
Martin Felis avatarMartin Felis
fixed alignment bug due to using of std containers and Eigen
Branches
dev
Martin Felis avatarMartin Felis
Bodies can now have multiple primitives
Branches
dev
Martin Felis avatarMartin Felis
added some options to the CMake scripts
Branches
dev
Martin Felis avatarMartin Felis
merge
Martin  Felis avatarMartin Felis
using now Eigen library also for the spatial algebra library
Branches
dev
Martin  Felis avatarMartin Felis
renamed SpatialMatrix.adjoint() to SpatialMatrix.spatial_adjoint()
Branches
dev
Martin  Felis avatarMartin Felis
crossm() and crossf() now take SpatialVectors as argument, matrices can be computed with crossX_matrix()
Branches
dev
Martin  Felis avatarMartin Felis
updated example for the new Eigen API
Branches
dev
Martin  Felis avatarMartin Felis
migration to Eigen finished
Branches
dev
Martin  Felis avatarMartin Felis
CalcPointJacobian() is now void and the result is stored in one of its arguments
Branches
dev
Martin Felis avatarMartin Felis
trying to replace cml with Eigen
Branches
dev
Martin Felis avatarMartin Felis
renamed cmlwrapper to mathwrapper.h and cleaned up some #includes
Martin Felis avatarMartin Felis
added test for ForwardDynamicsLagrangian()
Martin Felis avatarMartin Felis
added ForwardDynamicsLagrangian()
Martin  Felis avatarMartin Felis
Rolling contact works with ForwardDynamicsContactsLagrangian (OH MY GOD)
Martin  Felis avatarMartin Felis
Simple test for ForwardDynamicsContactsLagrangian works (yay)
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