playing around with distance transforms for differential drive (and similarly constrained) planar motions
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(old) PR2 Dynamics Identification Toolbox. Mostly based on gross simplifying assumptions, this set of tools should allow us to see whether we at least got the orders of magnitude right in the various parameters of the rigid dynamics model. Masses, centers of masses, and moments of inertia are the model parameters under consideration. Originally hosted on gitorious.org as dynamics_identification (without the pr2_ prefix), until they got bought.
Minimal TAO with joint-space dynamics wrappers. This was based on stanford-wbc-0.5 and used for headless simulation. One of the main goals was to clean out accumulated gruft from the original TAO dynamics engine, do proper coverage testing, and work on more streamlined and convenient data structures, and possibly better support spherical joints that use quaternions (where the number of positional parameters is 4 but for velocities it's 3). Hosted on gitorious.org until they got bought, copied here mainly for archival purposes.
Halmstad University DT8014 Algorithms (parts)
Halmstad University DA4002 (archived -- 2011 through 2013)