Drake
Modules
Here is a list of all modules:
[detail level 123]
 ▼Collision Concepts In 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 Concepts Collision filters are a purely non-physical concept Collision Cliques Collision Filter Groups Relationship Between Collision Filter Implementations In principle, collision cliques and collision filter groups are equivalent implementations of filtering Input File Collision Semantics Future Collision Filter Features ▼Multibody Dynamics Concepts Translating 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 Notation Drake uses consistent terminology and notation for multibody mechanics Notation Basics We are interested in representing physical quantities like position, orientation, inertia, and spatial velocity Frames and Bodies The most fundamental object in multibody mechanics is the coordinate frame, or just frame Multibody Quantities Quantities of interest in multibody dynamics have distinct types, which we denote with a single letter ▼Spatial Algebra Multibody dynamics involves both rotational and translational quantities, for motion, forces, and mass properties Spatial Pose and Transform A spatial pose, more commonly just pose, provides the location and orientation of a frame B with respect to another frame A Spatial Vectors Spatial 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 Drake Drake is concerned with the simulation of physical phenomena, including contact between simulated objects Detecting Contact Given 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 Forces Consider the definition of a contact with interpenetrating collision elements A and B Working with Contacts in Drake The behavior of a simulation with contact will depend on three factors: Formulating and Solving Optimization Problems Drake 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 Systems Drake uses a Simulink-inspired description of dynamical systems ▼Automotive Systems The drake/automotive folder collects automotive-specific System models and related software Automotive Plants Actuated System models related to automotive software Automotive Planners and Controllers System planners and controllers related to automotive software Rigid-Body Systems Control Systems Estimators Primitives Sensors Message Passing These systems enable network communication