PV Solver algorithm

Extends Featherstone's open-source (GPL3v license) and amazingly readable MATLAB spatial_v2 for rigid-body dynamics algorithms.
Please follow the documentation provided for the Featherstone's spatial_v2 library to interpret the code.
Integrated with CasADi. The dynamics expressions can be auto-differentiated and used in optimization-based algorithms.
Apologies to users without a MATLAB license. In the future, we hope to present an implementation of our algorithms in Python/Julia.

Instruction

Install CasADi and add follow the instructions on the page to add it to the MATLAB path.
Please clone or download the repository and add the folder spatial_V2 and its subfolders to the matlab path to use the dynamics algorithms.

Checkout OSIM_talos.m in examples directory for usage, benchmarking and verification of the EFPA, PV-OSIM, PV-OSIM-fast and the LTL-OSIM algorithms.
Checkout talos_dynamics.m in the examples directory for usage and benchmarking of PV, PV-e, PV-s, LTL and LTL-s constrained dynamics algorithms.
Checkout iiwa.m in examples directory for PV solver usage for fixed-base robot chains.
Checkout long_tree.m in examples directory for the PV-OSIMr algorithm usage.