Crate phyz_rigid 

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 kinematics::forward_kinematics;

pub use rnea::rnea;

Modules

aba

Articulated Body Algorithm (ABA) — O(n) forward dynamics.

crba

Composite Rigid Body Algorithm (CRBA) — mass matrix computation.

energy

Energy computation for rigid body systems.

kinematics

Forward kinematics — compute body transforms and velocities.

rnea

Recursive Newton-Euler Algorithm (RNEA) — inverse dynamics.