Kinematics dynamics/develop #125
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Support functions are also added to the KinematicsEngine class.
Support functions are also added to the KinematicsEngine class.
Support functions are also added to the KinematicsEngine class.
Support functions are also added to the KinematicsEngine class.
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Description
Each commit adds a new class, except those heavily dependent on each other. This occurs for Frame and Vector, as well as Hinge and Joint. The KinematicsEngine class is added in the first commit and is updated at each commit to add the appropriate support functions. A scenario is also added after all classes are committed.
Verification
A scenario is created that currently prints the function outputs as well as the expected results. All values can only be checked by sight, so a proper test needs to be created.
Documentation
No documentation is added.
Future work
This is a first pass at the new kinematics architecture. Future work will involve a heavy refactoring of all classes, adding documentation and proper testing, etc.