Dynamic system abstract class

[wxmerkt]

In GitLab by @cmastalli on Nov 15, 2018, 11:00

All dynamic problem as the form of:
[v; a] = [v; f(x,v,u)]

and its linearise model is:

[dv; da] = [0, I; fx, fv]*[dx; dv] + [0; fu]*du

where dx is the linearised configuration point. Note that the linearised point belongs to the tangential space.

This abstraction allows us to implement ABA dynamics, constrained forward dynamics, linear systems, etc. Both are implement in f(x,u,v).
Furthermore we can reuse the numerical differentiation (NumDiff) routines. Indeed, we just need to NumDiff only in the lower-block (see linearised dynamics)

[wxmerkt]

In GitLab by @cmastalli on Nov 16, 2018, 08:57

Note that this task describes the system in a way that it can be used for geometrical system. For that, we need to solve issue #26.

[wxmerkt]

In GitLab by @cmastalli on Nov 19, 2018, 22:59

assigned to @cmastalli

[wxmerkt]

In GitLab by @cmastalli on Nov 20, 2018, 17:43

This task isn't done. I pushed today's changes in topic/dynamics branch (d49c81e). I will working on it.

[wxmerkt]

In GitLab by @cmastalli on Nov 21, 2018, 09:31

mentioned in merge request !17

[wxmerkt]

In GitLab by @cmastalli on Nov 21, 2018, 09:34

This task was merged in !17. I will close it

[wxmerkt]

In GitLab by @cmastalli on Nov 21, 2018, 09:34

closed