Dynamics APIs

Code for the dynamics are listed in here,

calc_M(const VectorNd &Q);                                                                                                                                                                //Computes the joint space inertia matrix by using the Composite Rigid Body Algorithm.
calc_G(const VectorNd &Q);                                                                                                                                                                //Computes the N by 1 gravity matrix of the dynamics model by equating the velocity and acceleration to zero. Note: This method is only for serial manipulators, for parallel systems use InverseDynamicsConstrained
calc_InverseDynamics(const VectorNd &Q, const VectorNd &QDot, const VectorNd &QDDot, VectorNd &Tau);                                                                                      //Computes inverse dynamics with the Newton-Euler Algorithm.
calc_ForwardDynamics(const VectorNd &Q, const VectorNd &QDot, const VectorNd &Tau, VectorNd &QDDot);                                                                                      //Computes forward dynamics with the Articulated Body Algorithm.
calc_InverseDynamicsConstrained(const VectorNd &Q, const VectorNd &QDot, const VectorNd &QDDotDesired, ConstraintSet &CS, VectorNd &QDDotOutput, VectorNd &TauOutput);                    //An inverse-dynamics operator that can be applied to fully-actuated constrained systems.
calc_ForwardDynamicsConstrained(const VectorNd &Q, const VectorNd &QDot, const VectorNd &Tau, ConstraintSet &CS, VectorNd &QDDotOutput);                                                  //Computes forward dynamics with contact by constructing and solving the full lagrangian equation.
calc_MInvTimesTau(const VectorNd &Q, const VectorNd &Tau, VectorNd &QDDot);