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junggon 2013-11-22 10:47:39 -08:00
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@ -9,3 +9,16 @@ GEAR is a C++ library for kinematics and dynamics of articulated rigid body syst
- Hybrid dynamics for calculating the torques for prescribed joints, and the accelerations for unprescribed joints where 'prescribed' means joint acceleration is prescribed and 'unprescribed' (or 'torque-specified') means joint torque is known or given. A joint can be either 'prescribed' or 'unprescribed'. Hybrid dynamics is a generalization of the forward and inverse dynamics, i.e., they can be regarded as the extreme cases of hybrid dynamics when all of the joints are 'unprescribed' and when all of the joints are 'prescribed' respectively. - Hybrid dynamics for calculating the torques for prescribed joints, and the accelerations for unprescribed joints where 'prescribed' means joint acceleration is prescribed and 'unprescribed' (or 'torque-specified') means joint torque is known or given. A joint can be either 'prescribed' or 'unprescribed'. Hybrid dynamics is a generalization of the forward and inverse dynamics, i.e., they can be regarded as the extreme cases of hybrid dynamics when all of the joints are 'unprescribed' and when all of the joints are 'prescribed' respectively.
- Analytical derivatives of the forward/inverse/hybrid dynamics with respect to an arbitrary system parameter. - Analytical derivatives of the forward/inverse/hybrid dynamics with respect to an arbitrary system parameter.
How to compile
==============
A C++ compiler and CMake are necessary to build GEAR.
- On Linux, do make in the terminal to compile the library under gear/build_release.
- On Windows, execute runcmake_win.bat to create a Visual Studio solution file under gear/build.
- On Mac, execute runcmake_xcode to create an XCode project file under gear/build_xcode. Alternatively, you can do make in the terminal to compile using gcc.
How to use
==========
See gear/examples for how to create your own simulation project.