On Fri, Aug 7, 2009 at 2:20 PM, Philippe
Hamelin<philippe [dot] hamelin [..] ...> wrote:
> This is great! So KDL now supports direct and inverse dynamics? Is there any
> documentation/examples available on the dynamic part?

There is still no documentation, and the dynamics part is still
experimental (don't expect backwards compatibility on this) and
incomplete. We have an implementation of a recursive newton-euler
algorithm for inverse dynamics (from joint positions, velocities,
accelerations to joint torques/forces) for a chain. It should still be
extended to use for trees, but this is straight forward to do.

We are working on a dynamics algorithm to calculate joint
accelerations and/or torques from cartesian/operational space
accelerations for chains and trees.

This will probably be new 1.2 features.

Ruben

> Philippe
>
> 2009/8/6 Ruben Smits <ruben [dot] smits [..] ...>
>>
>> The Orocos development team is pleased to announce the first bug fix
>> release of the Kinematics and Dynamics library v1.0, a C++ library for
>> 6D geometry calculations, building kinematics and dynamic models and
>> doing inverse and forward calculations in a real-time context.
>>
>> You can download this release from
>> http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.1-src.tar.bz2
>> and read the installation instructions on
>> http://www.orocos.org/kdl/Installation_Manual
>>
>> This release mainly fixes python bindings issues and debian packaging
>>
>> You can see the full commit log of this release by browsing our websvn on
>>
>> http://svn.mech.kuleuven.be/websvn/orocos/trunk/kdl/?op=log&rev=30399&er...
>>
>> Ruben
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
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>
>