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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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Additional Collocation Factors #143

Open gchenfc opened 3 years ago

gchenfc commented 3 years ago

Currently Euler and Trapezoidal collocation factors are implemented. We may also desire Verlet and Semi-Implicit Euler Collocation factors, and to benchmark/compare/demo amongst the different methods.

See wikipedia's verlet and semi-implicit euler, and Frank's Hamiltonian colab notebook. Also see this stack exchange about the difference between Verlet and Semi-implicit euler.

yetongumich commented 3 years ago

Yes! I've previously thought about that, and I can help in formulating those collocation factors.