phyz_rigid/lib.rs
1//! Featherstone articulated rigid body dynamics.
2//!
3//! Implements:
4//! - Forward kinematics
5//! - Articulated Body Algorithm (ABA) for forward dynamics
6//! - Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics
7//! - Composite Rigid Body Algorithm (CRBA) for mass matrix
8//! - Semi-implicit Euler integration
9
10pub mod aba;
11pub mod crba;
12pub mod energy;
13pub mod kinematics;
14pub mod rnea;
15
16pub use aba::{aba, aba_with_external_forces};
17pub use crba::crba;
18pub use energy::{kinetic_energy, potential_energy, total_energy};
19pub use kinematics::forward_kinematics;
20pub use rnea::rnea;