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Commits on Feb 28, 2022

• [doc] Improve SpatialVelocity documentation

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  c74b2ca

Commits on Feb 15, 2022

• Notation for: relative velocity/acceleration, kinetic energy, tau for torque, etc. (RobotLocomotion#16507)

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  mitiguy

  and

  mitiguy

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  bcae041

Commits on Feb 9, 2022

• Replace RotationMatrix::IsIdentityToInternalTolerance() with RotationMatrix::IsNearlyIdentity(). (RobotLocomotion#16552)

  mitiguy

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  1c1a253

• Rename RigidTransform::IsIdentityToEpsilon() to RigidTransform::IsNearlyIdentity() (part of issue RobotLocomotion#16524).

  mitiguy

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  e2c11d2

Commits on Feb 1, 2022

• Enhance documentation and notation for offset frames. (RobotLocomotion#16415)

  mitiguy

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  0e2767a

Commits on Jan 20, 2022

• Improve code and tests for UnitInertia for a capsule. (RobotLocomotion#16401)

  mitiguy

  authored
  9c61149

Commits on Dec 14, 2021

• Remove errant comma when writing a RotationalInertia. (RobotLocomotion#16222)

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  mitiguy

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  mitiguy

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  ebfb1bb

Commits on Dec 7, 2021

• Fix tests' decimal-point matching across Mac/Ubuntu platforms (RobotLocomotion#16188)

  mitiguy

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  6de4448

• Fix error message when user sets a bad SpatialInertia. (RobotLocomotion#16065)

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  mitiguy

  and

  mitiguy

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  1428a3c

Commits on Sep 7, 2021

• Python binding for CalcJacobianCenterOfMassTranslationalVelocity() with model_instances. (RobotLocomotion#15691)

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  3aa8bbb

Commits on Jul 21, 2021

• Allow model_instances for MBP::CalcJacobianCenterOfMassTranslationalVelocity() (RobotLocomotion#15387)

  mitiguy

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  cff0f37

Commits on Jun 15, 2021

• Deprecate ComputeBasisFromAxis() in C++ and Python. (RobotLocomotion#15154)

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  6c5a106

Commits on Jun 9, 2021

• Replaces calls to ComputeBasisFromAxis in favor of MakeFromOneVector(). (RobotLocomotion#15055)

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  a95df05

Commits on May 20, 2021

• Make CalcCenterOfMassPositionInWorld() and CalcCenterOfMassTranslationalVelocityInWorld() consistent with CalcTotalMass(). (RobotLocomotion#15054)

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  f184e21

Commits on May 17, 2021

• Add ostream << operator to print RollPitchYaw and RigidTransform per issue RobotLocomotion#14699.

  mitiguy

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  f369e75

Commits on May 5, 2021

• Total mass of MBP or model instances. (RobotLocomotion#14957)

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  9df6934

• New method for forming a rotation matrix from a single unit vector. (RobotLocomotion#14816)

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  36d4701

Commits on Feb 19, 2021

• Test to ensure RigidTransform<double> can work with optimization instructions.… (RobotLocomotion#14678)

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  3075373

Commits on Feb 17, 2021

• Tests to ensure RigidTransform<double> can work with optimization instructions. (RobotLocomotion#14643)

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  457e3b5

Commits on Jan 27, 2021

• Deprecate CalcCenterOfMassPosition() in favor of CalcCenterOfMassPositionInWorld(). (RobotLocomotion#14538)

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  0ac940e

Commits on Dec 19, 2020

• In .h files within internal namespace, change /// and /** to // and /* to resolve issue RobotLocomotion#13738.

  mitiguy

  authored
  3e82d49

Commits on Dec 17, 2020

• Change /// to // for internal namespace in commonly-encountered header files. (RobotLocomotion#14468)

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  mitiguy

  authored
  9d88c2d

• Change /// to // within internal namespace in mobilizer.h (RobotLocomotion#14461)

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  and

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  3cb2ce1

Commits on Dec 16, 2020

• Change /// to // within internal namespace within multibody_tree.h to address part of issue RobotLocomotion#13738.

  mitiguy

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  c185731

• Methods, documentation, and tests for CalcCenterOfMassTranslationalVelocityInWorld().

  mitiguy

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  12485e8

Commits on Dec 8, 2020

• Document that body spatial velocity/acceleration methods are for point Bo (not point Bcm).

  mitiguy

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  1d9791e

• Enhance documentation for bodies & frames and monogram notation for spatial velocity/acceleration.

  mitiguy

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  f7114ca

Commits on Nov 17, 2020

• Resolve issue RobotLocomotion#13646, throw an exception in relevant center of mass methods if composite_mass <= 0 -- with various tests and checks (RobotLocomotion#14316).

  mitiguy

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  6d56ea0

Commits on Oct 2, 2020

• Versatile error message for gimbal-lock singularity -- helps end-users debug bushing problems and resolves issue RobotLocomotion#14114.

  mitiguy

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  e70e080

• Code and test for spatial momentum of a plant or subset of bodies (RobotLocomotion#13916)

  mitiguy

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  9a006bf

Commits on Oct 1, 2020

• Utility function that uses AutoDiff and vector differentiation in a non-world frame. Useful as an independent test for methods such as CalcBiasSpatialAcceleration() and CalcSpatialAcceleration(). R…

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  7e26781

Commits on Sep 11, 2020

• Add .png schematic and improved documentation to show Parent/Child bodies and joint M/F frames (aka Jp/Jc frames).

  mitiguy

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  6bd5f8c

Commits on Sep 2, 2020

• Add SpatialMomentum to documentation for multibody_quantities_html. (RobotLocomotion#13959)

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  c0bed22

Commits on Aug 20, 2020

• Consolidate code to be used for both bias and regular (unbias) spatial accelerations. (RobotLocomotion#13838)

  mitiguy

  authored
  e27cf28

Commits on Aug 17, 2020

• Implement Frame::CalcSpatialAccelerationInWorld() (RobotLocomotion#13773)

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  84b1444

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