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Commits on Aug 12, 2024

• Consolidate documentation for Jacobian functions into one group.

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Commits on Aug 8, 2024

• Separate Jacobian and system matrix function documentation. (RobotLocomotion#21796)

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• Simple move documentation for CalcBiasAcceleration functions. (RobotLocomotion#21794)

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Commits on Aug 7, 2024

• Consolidate documentation for MultibodyPlant CalcBias functions into one group. (RobotLocomotion#21784)

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Commits on Aug 6, 2024

• Add model_instances to CalcBiasCenterOfMassTranslationalAcceleration() (RobotLocomotion#21740)

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Commits on Jul 30, 2024

• Deprecate default value in CalcSpatialInertia(TriangleSurfaceMesh, density = 1). (RobotLocomotion#21738)

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Commits on Jul 22, 2024

• Add bindings for MultibodyPlant::CalcCenterOfMassTranslationalVelocity/Acceleration() (RobotLocomotion#21730)

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Commits on Jul 17, 2024

• Create MultibodyPlant::CalcCenterOfMassTranslationalAccelerationInWorld().

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Commits on Jul 11, 2024

• Enhance documentation clarify relationship to forward dynamics, etc. (RobotLocomotion#21703)

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Commits on Jul 8, 2024

• Add RigidBody::CalcCenterOfMassTranslationalAccelerationInWorld() towards issue RobotLocomotion#14269. (RobotLocomotion#21599)

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Commits on Jun 20, 2024

• Enhance multibody_plant_kinematics_test.cc for subsequent PRs. (RobotLocomotion#21570)

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Commits on Jun 4, 2024

• Move code in frame.h and rigid_body.h to frame.cc and rigid_body.cc to speed subsequent PRs. (RobotLocomotion#21516)

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Commits on May 31, 2024

• Make C++ argument names match Python for DeclareAbstractOutputPort() (RobotLocomotion#21478)

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Commits on May 22, 2024

• In internal code, change mobilizer set_angle() to SetAngle() (RobotLocomotion#21468)

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Commits on May 21, 2024

• Update part of mobilizer API from snake_case to CamelCase (RobotLocomotion#21429)

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Commits on May 8, 2024

• Deprecate QuaternionFloatingJoint::get_position(), set_position() for get_translation(), set_translation(), etc. (RobotLocomotion#21169)

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Commits on May 7, 2024

• Add comments to RotationMatrix(AngleAxis) constructor body (RobotLocomotion#21382)

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Commits on Feb 27, 2024

• [multibody] Add spatial inertial minimum length methods methods (RobotLocomotion#20897)

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Commits on Feb 21, 2024

• [doc] Improve monogram notation examples for vectors

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Commits on Nov 7, 2023

• Fix AutoDiff bug in unit vector code (RobotLocomotion#20467)

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Commits on Oct 26, 2023

• Move internal static RotationMatrix::NormalizeOrThrow() to unit_vector.h and unit_vector.cc (RobotLocomotion#20423)

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Commits on Oct 24, 2023

• Fix divide by norm bug in RotationMatrix::NormalizeOrThrow(). (RobotLocomotion#20406)

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Commits on Oct 19, 2023

• Consolidate code that checks unit vector reasonableness (RobotLocomotion#20313)

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Commits on Aug 15, 2023

• Require reasonable unit vectors for UnitInertia functions (RobotLocomotion#19926)

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Commits on Jul 27, 2023

• Change template type T(realNumber) to simply realNumber. (RobotLocomotion#19853)

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• Add SpatialInertia::SolidCylinderWithMassAboutEnd() (RobotLocomotion#19803)

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Commits on Jul 13, 2023

• Move code from unit_inertia.h to unit_inertia.cc. (RobotLocomotion#19761)

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Commits on Jul 12, 2023

• Add more SpatialInertia::ObjectWithMass() functions (RobotLocomotion#19737)

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Commits on Jul 10, 2023

• Notation clean-up (replace frame P with frame A). Isolate calculation of canonical principal directions. (RobotLocomotion#19726)

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Commits on Jul 5, 2023

• Return identity matrix for principal directions if all principal moments of inertia are ≈ equal. (RobotLocomotion#19656)

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Commits on Jun 20, 2023

• Add SpatialInertia::ShiftFromCenterOfMassInPlace() and ShiftFromCenterOfMass() to enhance efficiency (RobotLocomotion#19610)

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Commits on Jun 15, 2023

• Simplify SpatialInertia's exceptions (RobotLocomotion#19601)

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Commits on Jun 14, 2023

• Fix SpatialInertia::MakeFromCentralInertia() so it does not reject valid inputs (RobotLocomotion#19581)

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Commits on Jun 12, 2023

• Move SpatialInertia code from header .h file to source .cc file. (RobotLocomotion#19579)

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Commits on Jun 8, 2023

• SpatialInertia to equivalent dimensions and pose for a solid uniform-density ellipsoid and box (RobotLocomotion#19414)

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