Commits

Author Commit Message Labels Comments Date
Martin Felis
using now cmlVectors per default as parameters for the dynamics functions
Martin Felis
working on the acceleration computation as described by featherstone
Martin Felis
gui: fixed normal vectors on the cube
Martin Felis
gui: joints are now drawn with their axes (so far only rotational joints)
Martin Felis
doc: rewrote parts of the acceleration computation and incorporated Featherstones notest - needs more work
Martin Felis
replaced two manual .zero() calls by their proper constructors
Martin Felis
doc: added a sketch for the visualization of acceleration
Martin Felis
gui: mouse control improvements and bodies are now drawn with proper boxes
Martin Felis
added mu field that contains the children of a given body
Martin Felis
added functions Model::GetBodyOrigin() and Model::GetBodyWorldOrientation() to ease access to the position and orientation of a body
Martin Felis
working on a test that checks for the positions of the bodies' origins
Martin Felis
gui: added cubes that are drawn via VBOs that can be used for the bodies
Martin Felis
started drawing of the model
Martin Felis
restructuring of code in seperate header and source files
Martin Felis
added skeleton code for a GUI
Martin Felis
Logging can now be switched on and off by a cmake variable
Martin Felis
removed debug output statement
Martin Felis
clarified computation of accelerations and added latex notes for it
Martin Felis
renamed library to aba (as in Articulated-Body-Algorithm)
Martin Felis
computation of point accelerations works for all testcases, however needs a theoretical review
Martin Felis
added test for a non-trivial spatial inertia
Martin Felis
Trying to check the validity of the spatial inertia calculation for non-trivial body parameters
Martin Felis
intermediate commit, computation of point accelerations wip
Martin Felis
computation of velocities specified for a point of a body should work
Martin Felis
computation of velocities works now, however needs some more theoretical verification
Martin Felis
restructured tests
Martin Felis
some progress in velocity computation, however still errors
Martin Felis
intermediate commit: working on point velocity
Martin Felis
intermediate commit (working on computation of velocities of points on bodies)
Martin Felis
added some documentation
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