Open sherm1 opened 1 year ago
[Capturing a 1:1 discussion w/Alejandro]
Thoughts on how to present multibody modeling elegantly
Both LinkJointGraph and SpanningForestModel have nice public APIs for users to query.
MultibodyTree should then be thought of more like MultibodyPlantImpl (consider renaming). Its job is to implement an efficient computational representation of the SpanningForest (which essentially replaces the MultibodyTopology stuff), creating a MultibodyKernel devoted entirely to fast computation.
Here is a sketch of a LinkJointGraph with a loop being modeled as a spanning tree and an augmented LinkJointGraph:
Per discussion with @amcastro-tri, we would like to perform some major surgery on MultibodyTree to achieve these goals:
There is some apparent low-hanging fruit to be exploited:
Performance work should be backed by timings taken on the same computers. Cassie bench's mass matrix, inverse dynamics, and forward dynamics make good targets.