ARB

v0.3.1 Feature

This release adds 4 notable features for engineering teams evaluating rollout.

Published 6mo Model Serving & MLOps

✓ No known CVEs patched

✓ 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

Fixed bug with arb::dual calculation by using analytic block definition.

Full changelog

Main Functionality:

Fixes bug with arb::dual calculation in v0.3.0.

Now using analytic block definition and not the numerical transpose of the inverse.

In addition:

Simplified BModel by moving m_IA and m_pA to BDynamics.
Added test code for BABInertia and BRBInertia. Tests also cover BSpatialTransform.
Added accessors to BSpatialVector, BMatrix63, BMatrix36.
Improved comments especially BAdjoint and BSpatialTransform.

Full Changelog: https://github.com/wbyates777/Articulated-Rigid-Body/compare/v0.3.0...v0.3.1

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