Drake
Modules
Here is a list of all modules:
[detail level 123]
 Collision ConceptsIn the real world, we can rely on the axiom that no two objects can occupy the same space at the same time; the universe provides this constraint for free
 Collision Filter ConceptsCollision filters are a purely non-physical concept
 Collision Cliques
 Collision Filter Groups
 Relationship Between Collision Filter ImplementationsIn principle, collision cliques and collision filter groups are equivalent implementations of filtering
 Input File Collision Semantics
 Future Collision Filter Features
 Multibody Dynamics ConceptsTranslating from the mathematics of multibody mechanics to correct code is a difficult process and requires careful discipline to ensure that the resulting code is correct
 Terminology and NotationDrake uses consistent terminology and notation for multibody mechanics
 Notation BasicsWe are interested in representing physical quantities like position, orientation, inertia, and spatial velocity
 Frames and BodiesThe most fundamental object in multibody mechanics is the coordinate frame, or just frame
 Multibody QuantitiesQuantities of interest in multibody dynamics have distinct types, which we denote with a single letter
 Spatial AlgebraMultibody dynamics involves both rotational and translational quantities, for motion, forces, and mass properties
 Spatial Pose and TransformA spatial pose, more commonly just pose, provides the location and orientation of a frame B with respect to another frame A
 Spatial VectorsSpatial vectors are 6-element quantities that are pairs of ordinary 3-vectors
 Spatial Mass Matrix (Spatial Inertia)A Spatial Mass Matrix (also called Spatial Inertia) M represents the mass, center of mass location, and inertia in a single 6×6 symmetric, mass-weighted positive definite matrix that logically consists of four 3×3 submatrices
 Compliant Point Contacts in DrakeDrake is concerned with the simulation of physical phenomena, including contact between simulated objects
 Detecting ContactGiven two posed geometric shapes in a common frame, the collision detection system is responsible for determining if those shapes are penetrating and characterizing that penetration
 Computing Contact ForcesConsider the definition of a contact with interpenetrating collision elements A and B
 Working with Contacts in DrakeThe behavior of a simulation with contact will depend on three factors:
 Formulating and Solving Optimization ProblemsDrake wraps a number of commercial solvers (+ a few custom solvers) to provide a common interface for convex optimization, mixed-integer convex optimization, and other non-convex mathematical programs
 Modeling Dynamical SystemsDrake uses a Simulink-inspired description of dynamical systems
 Automotive SystemsThe drake/automotive folder collects automotive-specific System models and related software
 Automotive PlantsActuated System models related to automotive software
 Automotive Planners and ControllersSystem planners and controllers related to automotive software
 Rigid-Body Systems
 Control Systems
 Estimators
 Primitives
 Sensors
 Message PassingThese systems enable network communication