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