Expand description
Featherstone articulated rigid body dynamics.
Implements:
- Forward kinematics
- Articulated Body Algorithm (ABA) for forward dynamics
- Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics
- Composite Rigid Body Algorithm (CRBA) for mass matrix
- Semi-implicit Euler integration
Re-exports§
pub use aba::aba;pub use aba::aba_with_external_forces;pub use crba::crba;pub use energy::kinetic_energy;pub use energy::potential_energy;pub use energy::total_energy;pub use ik::IkConfig;pub use ik::IkGoal;pub use ik::IkGoalKind;pub use ik::IkSolution;pub use ik::residual_vector;pub use ik::solve_ik;pub use integrate::integrate_configuration;pub use integrate::rotate_free_joint_velocities;pub use integrate::semi_implicit_euler;pub use integrate::strip_free_joint_coriolis;pub use jacobian::body_angular_jacobian;pub use jacobian::point_jacobian;pub use jacobian::relative_point_jacobian;pub use kinematics::BodyKinematics;pub use kinematics::forward_kinematics;pub use kinematics::forward_kinematics_acc;pub use rnea::body_wrenches;pub use rnea::rnea;
Modules§
- aba
- Articulated Body Algorithm (ABA) – O(n) forward dynamics.
- actuation
- Generalized forces entering forward dynamics: actuators + passive joint terms.
- crba
- Composite Rigid Body Algorithm (CRBA) – mass matrix computation.
- energy
- Energy computation for rigid body systems.
- ik
- Inverse kinematics: solve for a configuration that puts bodies where you want them.
- integrate
- Joint-aware semi-implicit Euler integration.
- jacobian
- Point Jacobians: how a world point on a body moves with each joint DOF.
- kinematics
- Forward kinematics — compute body transforms and velocities.
- rnea
- Recursive Newton-Euler Algorithm (RNEA) — inverse dynamics.