New algorithms include:
- Methods to compute the Coriolis matrix (link) [all systems] and Christoffel symbols (link) [Single DoF joints only] (paper)
- Methods for assessing identifiability (link, paper)
- Methods for computing the partial derivatives of Inverse Dynamics (link) [paper forthcoming]
New features include:
- Extensions of most algorithms (RNEA, ABA, CRBA, etc.) to address dynamic effects from motor rotors (link)
- Updated most algorithms (RNEA, ABA, CRBA, etc.) to handle multi-DoF joints (e.g., spherical or floating base) without needing specialized versions of the algorithms (link)
- Regressor calculation algorithms (link)
- Variety of tools for converting between different representations of orientation (link)
- Partial compatibility for complex-valued input arguments toward support of complex-step derivative comptuations in unit tests.