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Velocity-Implicit Euler Fixed Step - Second PR of #12528 #12543

Merged
merged 1 commit into from Feb 15, 2020
Merged

Velocity-Implicit Euler Fixed Step - Second PR of #12528 #12543

merged 1 commit into from Feb 15, 2020
+891 −3

Commits on Feb 15, 2020

  1. Velocity-Implicit Euler Fixed Steps. Simplified code and added descri… 

    …ptions.

This PR adds a fixed-step implementation of the new first-order Velocity-Implicit Euler Integrator (Issue RobotLocomotion#12528). This is the second PR out of four.

The documentation is based on the equations listed here: https://docs.google.com/document/d/118J6rkR9ghh2_3WY0O5EDXhfkgMOXXqTQ2usrhICv30/edit
    @antequ
    antequ committed Feb 15, 2020
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