spatial_v2_extended

This package directly builds upon Roy Featherstone's spatial_v2 library and his closely associated book.

New algorithms include:

• Methods to compute the Coriolis matrix (link) [all systems] and Christoffel symbols (link) (paper)
• Methods for assessing identifiability (link, paper)
• Methods to calculate second-order partial derivatives of Inverse Dynamics for multi-DoF joints (link)

New features include:

• Extensions of most algorithms (RNEA, ABA, CRBA, etc.) to address dynamic effects from motor rotors (link)
• Updated most algorithms (RNEA, ABA, CRBA, etc.) to handle multi-DoF joints (e.g., spherical or floating base) without needing specialized versions of the algorithms (link)
• Regressor calculation algorithms (link)
• Variety of tools for converting between different representations of orientation (link)
• Methods for computing the partial derivatives of Inverse Dynamics (link)
• Partial compatibility for complex-valued input arguments toward support of complex-step derivative comptuations in unit tests (including the complex step on matrix Lie groups link).