Here are some of the most "urgent" needs for code in the context of the
"Systems & Control Library":

- integrators
Euler <http://en.wikipedia.org/wiki/Euler_integration>
Semi-implicit Euler <http://en.wikipedia.org/wiki/Euler%E2%80%93Cromer_algorithm>
Verlet <http://en.wikipedia.org/wiki/Velocity_Verlet#Velocity_Verlet>
Adams–Bashforth <http://en.wikipedia.org/wiki/Linear_multistep_method>
Runge-Kutta <http://en.wikipedia.org/wiki/Runge-Kutta_method>

The envisaged use is in _control_ and not in _simulation_, which means
that they can only be used in a _causal_ way
<http://en.wikipedia.org/wiki/Causal_filter>
_and_ with _given_ time instants.

- Baumgarte stabilization, that is, a constraint relationship controller.

- PID with anti-windup <http://en.wikipedia.org/wiki/PID_controller>.

None of these is very difficult to code, but if you happen to have already
some (C++) code available for some of these, with a BSD or LGPL license, it
might save us some implementation time :-)

Thanks!

Herman
--
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network) <http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>