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读论文a linear-time VI

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论文预印地址:[1609.02898] A Linear-Time Variational Integrator for Multibody Systems

点我，这里是PDF文档

论文代码地址:GitHub - jslee02/wafr2016: Implementation of “A Linear-Time Variational Integrator for Multibody Systems”

代码编译:

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cd build
make -j8 experiments examples
cd <wafr2016_root_dir>/build/bin
./dm_passivePendulum

代码运行结果(numLinks=6,gravity=-9.81,h=(1.0/1000)):

注:

  1. DART: Dynamic Animation and Robotics Toolkit:The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.
  2. Vrep:
  • bullet物理引擎(t = 24s,time step = 50ms):

  • ode隐式格式(t = 24s,time step = 50ms)

  1. 这是我的笔记

  2. 另一篇较新的文献: Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization