├── .clang-format ├── .github ├── check_style.sh ├── clang_format_codebase.sh ├── clang_git_format │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── clang_git_format │ │ ├── __init__.py │ │ ├── clang_format.py │ │ ├── config.py │ │ ├── custom_exceptions.py │ │ ├── repo.py │ │ └── utils.py │ ├── format_code.py │ └── scripts │ │ └── convert_inline_dox_comments_file.sh ├── python_reqs.txt └── workflows │ ├── check-clang-format.yml │ └── linux-build.yml ├── .gitignore ├── .gitpod.Dockerfile ├── .gitpod.yml ├── .readthedocs.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps ├── CMakeLists.txt ├── mbse-dynamic-simulation │ ├── CMakeLists.txt │ └── main.cpp ├── mbse-fg-inverse-dynamics │ ├── CMakeLists.txt │ └── main.cpp ├── mbse-fg-smoother-forward-dynamics-icoords │ ├── CMakeLists.txt │ └── main.cpp ├── mbse-fg-smoother-forward-dynamics │ ├── CMakeLists.txt │ └── main.cpp ├── mbse-pf-demo │ ├── CMakeLists.txt │ └── main.cpp └── mbse-viewer │ ├── CMakeLists.txt │ └── main.cpp ├── cmake ├── FindSuiteSparse.cmake ├── cmake-modules │ ├── CleanDirectoryList.cmake │ ├── CodeCoverage.cmake │ ├── CppcheckTargets.cmake │ ├── EnableProfiling.cmake │ ├── FindCVODE.cmake │ ├── FindFFTW.cmake │ ├── FindGDB.cmake │ ├── FindGSL.cmake │ ├── FindGitHub.cmake │ ├── FindITAPS.cmake │ ├── FindLAPACKLibs.cmake │ ├── FindLIS.cmake │ ├── FindMKL.cmake │ ├── FindMsysGit.cmake │ ├── FindNetCDF.cmake │ ├── FindOpenSG.cmake │ ├── FindOpenSGSupportlibs.cmake │ ├── FindShapelib.cmake │ ├── FindVRPN.cmake │ ├── Findcppcheck.cmake │ ├── Findcppcheck.cpp │ ├── Findquatlib.cmake │ ├── GetCPUDetails.cmake │ ├── GetGitRevisionDescription.cmake │ ├── GetGitRevisionDescription.cmake.in │ ├── LICENSE_1_0.txt │ ├── ListAllCMakeVariableValues.cmake │ ├── OptionRequires.cmake │ ├── PrintVariables.cmake │ ├── ProcessorCount.cmake │ ├── README.md │ ├── ResetConfigurations.cmake │ ├── SetDefaultBuildType.cmake │ ├── cotire-license │ └── cotire.cmake └── mbse-config.cmake.in ├── config ├── mechanisms │ ├── fourbars1-with-rel-angle.yaml │ ├── fourbars1.yaml │ ├── pendulum1.yaml │ ├── pendulum2.yaml │ ├── pendulum3.yaml │ └── pick-and-place-robot.yaml └── trajectories │ ├── fourbars1-with-rel-angle-trajectory.txt │ ├── fourbars1_with_rel_angle_trajectory_generate.m │ └── pick-and-place-robot-trajectory.txt ├── docs ├── Doxyfile ├── Makefile ├── app-mbse-dynamic-simulation.md ├── app-mbse-fg-smoother-forward-dynamics.md ├── app-mbse-pf-demo.md ├── apps.md ├── mainpage.md ├── make.bat ├── mechanism-definition-yaml.md ├── requirements.txt └── source │ ├── _static │ ├── mbde-fg-screenshot.png │ └── mbde-pf-screenshot.jpg │ ├── conf.py │ └── index.rst ├── experiments ├── InverseDynamics_4bars_MSC.tab ├── InverseDynamics_pprobot_MSC.tab ├── README.md ├── abar.m ├── aconfig.m ├── afigure.m ├── aplot.m ├── compareTwoRuns.m ├── mech_4bars_MSC_0.1ms.tab ├── plot_inverse_dynamics_results_4bars.m ├── plot_inverse_dynamics_results_pprobot.m ├── plots_forward_dynamics_comparison.m ├── run-experiments-forward-dynamics-dcoord.sh └── run-experiments-forward-dynamics-icoords.sh └── libmbse ├── CMakeLists.txt ├── include └── mbse │ ├── AssembledRigidModel.h │ ├── Body.h │ ├── ModelDefinition.h │ ├── MultiBodyParticleFilter.h │ ├── constraints │ ├── ConstraintBase.h │ ├── ConstraintCommon.h │ ├── ConstraintConstantDistance.h │ ├── ConstraintFixedSlider.h │ ├── ConstraintMobileSlider.h │ ├── ConstraintRelativeAngle.h │ ├── ConstraintRelativeAngleAbsolute.h │ └── ConstraintRelativePosition.h │ ├── dynamics │ └── dynamic-simulators.h │ ├── factors │ ├── FactorConstraints.h │ ├── FactorConstraintsAccIndep.h │ ├── FactorConstraintsIndep.h │ ├── FactorConstraintsVel.h │ ├── FactorConstraintsVelIndep.h │ ├── FactorDynamics.h │ ├── FactorDynamicsIndep.h │ ├── FactorEulerInt.h │ ├── FactorGyroscope.h │ ├── FactorInverseDynamics.h │ ├── FactorTrapInt.h │ └── factor-common.h │ ├── mbse-common.h │ ├── mbse-utils.h │ ├── mbse.h │ ├── model-examples.h │ └── virtual-sensors.h ├── src ├── AssembledRigidModel_build_generalized_forces.cpp ├── AssembledRigidModel_build_mass_matrix.cpp ├── AssembledRigidModel_common.cpp ├── AssembledRigidModel_initial_pos.cpp ├── Body.cpp ├── ModelDefinition.cpp ├── MultiBodyParticleFilter.cpp ├── constraints │ ├── ConstraintBase.cpp │ ├── ConstraintConstantDistance.cpp │ ├── ConstraintFixedSlider.cpp │ ├── ConstraintMobileSlider.cpp │ ├── ConstraintRelativeAngle.cpp │ ├── ConstraintRelativeAngleAbsolute.cpp │ └── ConstraintRelativePosition.cpp ├── dynamics │ ├── DynamicSimulatorBase.cpp │ ├── DynamicSimulatorIndepBase.cpp │ ├── DynamicSimulator_ALi3_Dense.cpp │ ├── DynamicSimulator_AugmentedLagrangian_Dense.cpp │ ├── DynamicSimulator_AugmentedLagrangian_KLU.cpp │ ├── DynamicSimulator_Indep_dense.cpp │ ├── DynamicSimulator_Lagrange_CHOLMOD.cpp │ ├── DynamicSimulator_Lagrange_KLU.cpp │ ├── DynamicSimulator_Lagrange_LU_dense.cpp │ ├── DynamicSimulator_Lagrange_UMFPACK.cpp │ └── DynamicSimulator_R_matrix_dense.cpp ├── factors │ ├── FactorConstraints.cpp │ ├── FactorConstraintsAccIndep.cpp │ ├── FactorConstraintsIndep.cpp │ ├── FactorConstraintsVel.cpp │ ├── FactorConstraintsVelIndep.cpp │ ├── FactorDynamics.cpp │ ├── FactorDynamicsIndep.cpp │ ├── FactorEulerInt.cpp │ ├── FactorGyroscope.cpp │ ├── FactorInverseDynamics.cpp │ ├── FactorTrapInt.cpp │ └── factor-common.cpp ├── model-examples.cpp ├── utils.cpp └── virtual-sensors.cpp └── tests ├── CMakeLists.txt ├── common-tests.h ├── dynamics-solvers.cpp ├── factor-acc-constraints-icoords-jacobian.cpp ├── factor-constraints-icoords-jacobian.cpp ├── factor-constraints-jacobian.cpp ├── factor-dynamics-icoords-jacobian.cpp ├── factor-dynamics-jacobian.cpp ├── factor-euler-integrator.cpp ├── factor-gyroscope-jacobian.cpp ├── factor-trapezoidal-integrator.cpp ├── factor-vel-constraints-icoords-jacobian.cpp ├── factor-vel-constraints-jacobian.cpp ├── gtest-1.6.0 ├── .clang-format ├── CMakeLists.txt ├── CONTRIBUTORS ├── COPYING ├── README └── fused-src │ └── gtest │ ├── 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