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basic robot dynamics

Amy Blank requested to merge feature/dynamics into devel

Description

  • Added basic robot dynamics implementation
  • Unit test for basic robot dynamics
  • ForwardKinematics support for DOF =/= 3 to allow dynamics testing
  • Supporting Octave scripts for unit testing
  • Updated merge request templates
  • Various code formatting changes in files whose whitespace was never updated for the new coding standard

What to focus on

  • Dynamics implementation
  • Unit test coverage (i.e., is anything missing that should have been tested)

Note that some commented out code has not been tested, but is kept for future development.

Reviewers

Resources

Note that this implementation uses the Spong convention. See Robot Modeling and Control by Spong, Hutchinson, and Vidyasagar, Chapter 7. The Matlab code that was the basis for unit tests follows the Craig convention. See Introduction to Robotics: Mechanics and Control, 3rd ed., by J. Craig.

The original Matlab code for the Craig implementation is available here: https://github.com/epezent/CraigRobotics

Edited by Craig McDonald

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