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v2.1.0

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@adamheins adamheins released this 04 Nov 23:57
· 43 commits to main since this release
v2.1.0
7107d80

This release adds contact wrench and more quaternion utility functions.

Contact wrench utilities

  • The functions get_point_contact_wrench, get_points_contact_wrench, and get_total_contact_wrench have been added for computing the contact wrench exerted on one object through contact with another.

Quaternion utilities

  • The functions quatx, quaty, and quatz have been added to construct quaternions representing rotations about the major axes.
  • Under the hood, the quaternion functions have all been rewritten to use spatialmath.UnitQuaternion.

Future

  • The field localInerialPos of the DynamicsInfo named tuple is misspelled; this will be fixed in a future major release.
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