Kinematics dynamics/six dof rigid body #128
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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.
Support functions are also added to the KinematicsEngine class.
Support functions are also added to the KinematicsEngine class.
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Description
This PR adds node structure to the
kinematicsEngine, adds the skeleton class of thedynamicsEngine, and includes thesixDOFRigidBodymodule, in that order.Verification
A test for
sixDOFRigidBodyis added, which tests rotational energy and angular momentum conservation laws.Documentation
No documentation is added yet.
Future work
Further work on the
dynamicsEngineis needed, along with introducing the back-substitution method.