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ARB

v0.2.0 Feature

This release adds 3 notable features for engineering teams evaluating rollout.

Published 6mo Model Serving & MLOps
✓ No known CVEs patched
Read the diff → Tool health → What is this tool? →

✓ No known CVEs patched in this version

Topics

aba articulated-robots autodiff automatic-differentiation computer-graphics cpp23
+10 more
crba featherstone gjk glm kinematic-trees newton-euler rbdl rigid-body-dynamics rnea urdf

Summary

AI summary

Added adjoint matrix calculations, pointAcc(), pointVel() for BModel, and update_X_base/velocity for BDynamics.

Full changelog

Added functionality:

  1. Adjoint matrix calculations - used to transform spatial vectors between body and world coordinate frames.
  2. Functions pointAcc() and pointVel() to BModel - calculate acceleration or velocity at a point on a body.
  3. Functions update_X_base and update_velocity to BDynamics - update a model's internal parameters.

Replaced some glm:: functions with equivalent arb:: functions - should improve portability.

View diff on GitHub

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Beta — feedback welcome: [email protected]