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Commits on Apr 2, 2018

• Introduce collision geometry registration and contact forces (RobotLocomotion#8385)

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Commits on Mar 16, 2018

• SpatialMomentum class (RobotLocomotion#8356)

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• MBP acrobot with LQR controller example (RobotLocomotion#8365)

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Commits on Mar 15, 2018

• MBT defaults bodies to be free (RobotLocomotion#8371)

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Commits on Mar 13, 2018

• Updates FCL repository (RobotLocomotion#8346)

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Commits on Mar 9, 2018

• Docs on rigid transformation operator + acceleration composition (RobotLocomotion#8317)

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Commits on Mar 8, 2018

• SpatialVector supports symbolic::Expression (RobotLocomotion#8296)

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• Linearize MBP pendulum model (RobotLocomotion#8294)

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Commits on Mar 7, 2018

• Updates pendulum passive simulation to use MBP (RobotLocomotion#8292)

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• Reduces simulation time for free_rotating_body_test (RobotLocomotion#8278)

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Commits on Mar 5, 2018

• Adds the machinery for MBP to talk with GS. (RobotLocomotion#8145)

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• Multibody actuators (RobotLocomotion#8147)

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Commits on Mar 1, 2018

• MBT getters refactor (RobotLocomotion#8206)

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Commits on Feb 28, 2018

• Fixes to QuaternionFreeMobilizer (RobotLocomotion#8192)

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Commits on Feb 23, 2018

• Implements quaternion mobilizer for free bodies. (RobotLocomotion#8135)

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Commits on Feb 21, 2018

• MBT Geometric Jacobian for frame spatial velocity (RobotLocomotion#8026)

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Commits on Feb 14, 2018

• SpatialVector unary minus operator (RobotLocomotion#8064)

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Commits on Feb 13, 2018

• Specify axis of revolution in unit inertia factory for solid cylinder (RobotLocomotion#8040)

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• MBT Jacobian tests (RobotLocomotion#8009)

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Commits on Feb 8, 2018

• MBT cleanup with Eval() methods. (RobotLocomotion#8008)

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• Refactors Kuka benchmark into an MBT factory (RobotLocomotion#7995)

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Commits on Feb 7, 2018

• Implements Eval() methods in MBP to avoid boilerplate (RobotLocomotion#7973)

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Commits on Feb 6, 2018

• Adds clarification on the usage of EigenPtr (RobotLocomotion#7957)

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• MBT method to compute tau_g(q) (RobotLocomotion#7800)

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Commits on Jan 31, 2018

• Minimum MultibodyPlant (RobotLocomotion#7899)

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Commits on Jan 26, 2018

• Adds simulation_time command line option to acrobot. Decreases simulation time for smoke test. (RobotLocomotion#7863)

  

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Commits on Jan 24, 2018

• MBT acrobot example (RobotLocomotion#7814)

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• Specialization of std::hash for TypeSafeIndex. (RobotLocomotion#7839)

  

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Commits on Jan 23, 2018

• Joint methods to add-in multibody forces. (RobotLocomotion#7797)

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Commits on Jan 16, 2018

• Towards an API to apply forces to an MBT model. (RobotLocomotion#7731)

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Commits on Jan 11, 2018

• MBT pendulum test cleanup. (RobotLocomotion#7719)

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Commits on Dec 5, 2017

• MBT methods to work with State<T> (RobotLocomotion#7542)

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Commits on Dec 1, 2017

• MBT Simple pendulum plant (RobotLocomotion#7172)

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Commits on Nov 29, 2017

• Implements MBT method to compute geometric Jacobian. (RobotLocomotion#7510)

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Commits on Nov 17, 2017

• Templatizes on <T> the Kuka benchmark (RobotLocomotion#7495)

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