Henry Weller df1cb90dc6 rigidBodyDynamics: Simplify handling of quaternions by maintaining a unit quaternion in the joint state field 'q' ... 'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|) and 'v' is stored in the joint state field 'q' and integrated in the usual manner but corrected using quaternion transformations.		2016-04-12 21:44:34 +01:00
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pendulum	rigidBodyDynamics/rigidBodyModelState: New class to hold the motion state of the rigid-body model	2016-04-11 19:01:16 +01:00
sphericalJoint	rigidBodyDynamics: Simplify handling of quaternions by maintaining a unit quaternion in the joint state field 'q'	2016-04-12 21:44:34 +01:00
spring	applications/test/rigidBodyDynamics/spring: Updated comment	2016-04-12 16:37:26 +01:00