Drake
Multibody Dynamics

Modules

 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.
 
 Collision Concepts (RigidBodyPlant only)
 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.
 

Detailed Description