At the moment, only 𝑘=1 and 𝑘=2 are implemented.
See the documentation of the gena
and RATTLie
methods, which are designed in a similar way.
Integrators:
- The Lie group generalized-α method
gena
- The Lie group BDF method
BLieDF
- The Lie group RATTLE method
RATTLie
- The Lie group SHAKE method
SHAKELie
- The nonholonomic RATTLie method
RATTLie_nonhol
Test problems:
- The heavy top example
heavy_top
- The constrained Cosserat beam model
crmS3R3
- The rolling disk example
rolling_disk
Miscellaneous:
- Implementation of Lie group functions
liegroup
- Expand a config file with different configurations to several files
expandconfig
- Read lua files in Matlab and Octave
readLua
Third party projects: