rigeo: rigid body geometry

Module Reference

• Closest Points
• Constraint
• Geodesic
• Identification
• Inertial
• Multibody
• Polyhedron Double Description
• Random
• Rigid Bodies
• Shape
• Utilities

[1]

Stephen Boyd and Lieven Vandenberghe. Convex Optimization. Cambridge University Press, 2004.

[2]

Taeyoon Lee, Patrick M. Wensing, and Frank C. Park. Geometric robot dynamic identification: a convex programming approach. IEEE Transactions on Robotics, 36(2):348–365, 2019. doi:10.1109/TRO.2019.2926491.