Signals Cpp

Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.

Under construction

Implemented Types

Signal Types

Scalar signal type:

ScalarSignal<T> x;

Vector signal types:

Vector1Signal<T> x;
Vector2Signal<T> x;
Vector3Signal<T> x;
Vector4Signal<T> x;
Vector5Signal<T> x;
Vector6Signal<T> x;
Vector7Signal<T> x;
Vector8Signal<T> x;
Vector9Signal<T> x;
Vector10Signal<T> x;

Manifold signal types:

SO3Signal<T> x;
SE3Signal<T> x;

Integrators

Euler integrator:

IntegrateEuler f;
f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);

Trapezoidal integrator:

IntegrateTrapezoidal f;
f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);

Models

Pending implementations:

• TranslationalDynamics1DOF<T>
  • Point mass system confined to a straight line.
• TranslationalDynamics2DOF<T>
  • Point mass system confined to a plane.
• TranslationalDynamics3DOF<T>
  • Point mass system in a 3-dimensional space.
• RotationalDynamics1DOF<T>
  • Single-axis rotating mass system fixed in space.
• RotationalDynamics3DOF<T>
  • Rotating mass fixed in 3D space.
• RigidBodyDynamics3DOF<T>
  • Rigid body system confined to a plane (unicycle model).
• RigidBodyDynamics6DOF<T>
  • Rigid body system in 3D space.