Cmeel distribution of a package for generation of symbolic (casadi::SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
Project description
casadi_kin_dyn
Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
What has changed?
In comparison to the original casadi_kin_dyn repository, such changes were made:
- Migration to
cmeel
-based packaging - Use
pre-commit
to prettify repository - Added
torque
,potentialEnergy
,kineticEnergy
regressors - Added
jacobian time derivative
mapping - Added
jacobian of CoM
mapping
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