├── .gitignore ├── Benchmarking ├── CMakeLists.txt ├── data │ └── .gitkeep ├── figures │ └── .gitkeep ├── plotting │ ├── approximate_systems.m │ ├── branchAndDepth.m │ ├── custom_colors.mat │ ├── parallel_chains.m │ └── plottingOptions.m ├── src │ ├── approximateBenchmark.cpp │ ├── pinocchioBenchmark.cpp │ ├── pinocchioHelpers.cpp │ └── pinocchioHelpers.hpp └── urdfs │ ├── approx_four_bar_branch.xacro │ ├── approx_four_bar_properties.xacro │ ├── approx_revolute_rotor_branch.xacro │ ├── approx_revolute_rotor_pair_branch.xacro │ ├── approx_revolute_rotor_pair_properties.xacro │ ├── approx_revolute_rotor_properties.xacro │ ├── four_bar_branch.xacro │ ├── four_bar_properties.xacro │ ├── make_parallel_chain_urdfs.sh │ ├── make_variable_tree_urdfs.sh │ ├── parallel_chains │ ├── Explicit │ │ ├── depth10 │ │ │ ├── approx_loop_size12.urdf │ │ │ ├── approx_loop_size12.xacro │ │ │ ├── approx_loop_size16.urdf │ │ │ ├── approx_loop_size16.xacro │ │ │ ├── approx_loop_size2.urdf │ │ │ ├── approx_loop_size2.xacro │ │ │ ├── approx_loop_size4.urdf │ │ │ ├── approx_loop_size4.xacro │ │ │ ├── approx_loop_size8.urdf │ │ │ ├── approx_loop_size8.xacro │ │ │ ├── loop_size12.urdf │ │ │ ├── loop_size12.xacro │ │ │ ├── loop_size16.urdf │ │ │ ├── loop_size16.xacro │ │ │ ├── loop_size2.urdf │ │ │ ├── loop_size2.xacro │ │ │ ├── loop_size4.urdf │ │ │ ├── loop_size4.xacro │ │ │ ├── loop_size8.urdf │ │ │ └── loop_size8.xacro │ │ ├── depth20 │ │ │ ├── approx_loop_size12.urdf │ │ │ ├── approx_loop_size12.xacro │ │ │ ├── approx_loop_size2.urdf │ │ │ ├── approx_loop_size2.xacro │ │ │ ├── approx_loop_size20.urdf │ │ │ ├── approx_loop_size20.xacro │ │ │ ├── approx_loop_size30.urdf │ │ │ ├── approx_loop_size30.xacro │ │ │ ├── approx_loop_size6.urdf │ │ │ ├── approx_loop_size6.xacro │ │ │ ├── loop_size12.urdf │ │ │ ├── loop_size12.xacro │ │ │ ├── loop_size2.urdf │ │ │ ├── loop_size2.xacro │ │ │ ├── loop_size20.urdf │ │ │ ├── loop_size20.xacro │ │ │ ├── loop_size30.urdf │ │ │ ├── loop_size30.xacro │ │ │ ├── loop_size6.urdf │ │ │ └── loop_size6.xacro │ │ ├── depth40 │ │ │ ├── approx_loop_size16.urdf │ │ │ ├── approx_loop_size16.xacro │ │ │ ├── approx_loop_size2.urdf │ │ │ ├── approx_loop_size2.xacro │ │ │ ├── approx_loop_size28.urdf │ │ │ ├── approx_loop_size28.xacro │ │ │ ├── approx_loop_size40.urdf │ │ │ ├── approx_loop_size40.xacro │ │ │ ├── approx_loop_size8.urdf │ │ │ ├── approx_loop_size8.xacro │ │ │ ├── loop_size16.urdf │ │ │ ├── loop_size16.xacro │ │ │ ├── loop_size2.urdf │ │ │ ├── loop_size2.xacro │ │ │ ├── loop_size28.urdf │ │ │ ├── loop_size28.xacro │ │ │ ├── loop_size40.urdf │ │ │ ├── loop_size40.xacro │ │ │ ├── loop_size8.urdf │ │ │ └── loop_size8.xacro │ │ ├── depth5 │ │ │ ├── approx_loop_size10.urdf │ │ │ ├── approx_loop_size10.xacro │ │ │ ├── approx_loop_size2.urdf │ │ │ ├── approx_loop_size2.xacro │ │ │ ├── approx_loop_size4.urdf │ │ │ ├── approx_loop_size4.xacro │ │ │ ├── approx_loop_size6.urdf │ │ │ ├── approx_loop_size6.xacro │ │ │ ├── approx_loop_size8.urdf │ │ │ ├── approx_loop_size8.xacro │ │ │ ├── loop_size10.urdf │ │ │ ├── loop_size10.xacro │ │ │ ├── loop_size2.urdf │ │ │ ├── loop_size2.xacro │ │ │ ├── loop_size4.urdf │ │ │ ├── loop_size4.xacro │ │ │ ├── loop_size6.urdf │ │ │ ├── loop_size6.xacro │ │ │ ├── loop_size8.urdf │ │ │ └── loop_size8.xacro │ │ └── explicit_parallel_chains_properties.xacro │ ├── Implicit │ │ ├── depth10 │ │ │ ├── approx_loop_size13.urdf │ │ │ ├── approx_loop_size13.xacro │ │ │ ├── approx_loop_size17.urdf │ │ │ ├── approx_loop_size17.xacro │ │ │ ├── approx_loop_size3.urdf │ │ │ ├── approx_loop_size3.xacro │ │ │ ├── approx_loop_size5.urdf │ │ │ ├── approx_loop_size5.xacro │ │ │ ├── approx_loop_size9.urdf │ │ │ ├── approx_loop_size9.xacro │ │ │ ├── loop_size13.urdf │ │ │ ├── loop_size13.xacro │ │ │ ├── loop_size17.urdf │ │ │ ├── loop_size17.xacro │ │ │ ├── loop_size3.urdf │ │ │ ├── loop_size3.xacro │ │ │ ├── loop_size5.urdf │ │ │ ├── loop_size5.xacro │ │ │ ├── loop_size9.urdf │ │ │ └── loop_size9.xacro │ │ ├── depth20 │ │ │ ├── approx_loop_size13.urdf │ │ │ ├── approx_loop_size13.xacro │ │ │ ├── approx_loop_size21.urdf │ │ │ ├── approx_loop_size21.xacro │ │ │ ├── approx_loop_size3.urdf │ │ │ ├── approx_loop_size3.xacro │ │ │ ├── approx_loop_size31.urdf │ │ │ ├── approx_loop_size31.xacro │ │ │ ├── approx_loop_size7.urdf │ │ │ ├── approx_loop_size7.xacro │ │ │ ├── loop_size13.urdf │ │ │ ├── loop_size13.xacro │ │ │ ├── loop_size21.urdf │ │ │ ├── loop_size21.xacro │ │ │ ├── loop_size3.urdf │ │ │ ├── loop_size3.xacro │ │ │ ├── loop_size31.urdf │ │ │ ├── loop_size31.xacro │ │ │ ├── loop_size7.urdf │ │ │ └── loop_size7.xacro │ │ ├── depth40 │ │ │ ├── approx_loop_size17.urdf │ │ │ ├── approx_loop_size17.xacro │ │ │ ├── approx_loop_size29.urdf │ │ │ ├── approx_loop_size29.xacro │ │ │ ├── approx_loop_size3.urdf │ │ │ ├── approx_loop_size3.xacro │ │ │ ├── approx_loop_size41.urdf │ │ │ ├── approx_loop_size41.xacro │ │ │ ├── approx_loop_size9.urdf │ │ │ ├── approx_loop_size9.xacro │ │ │ ├── loop_size17.urdf │ │ │ ├── loop_size17.xacro │ │ │ ├── loop_size29.urdf │ │ │ ├── loop_size29.xacro │ │ │ ├── loop_size3.urdf │ │ │ ├── loop_size3.xacro │ │ │ ├── loop_size41.urdf │ │ │ ├── loop_size41.xacro │ │ │ ├── loop_size9.urdf │ │ │ └── loop_size9.xacro │ │ ├── depth5 │ │ │ ├── approx_loop_size11.urdf │ │ │ ├── approx_loop_size11.xacro │ │ │ ├── approx_loop_size3.urdf │ │ │ ├── approx_loop_size3.xacro │ │ │ ├── approx_loop_size5.urdf │ │ │ ├── approx_loop_size5.xacro │ │ │ ├── approx_loop_size7.urdf │ │ │ ├── approx_loop_size7.xacro │ │ │ ├── approx_loop_size9.urdf │ │ │ ├── approx_loop_size9.xacro │ │ │ ├── loop_size11.urdf │ │ │ ├── loop_size11.xacro │ │ │ ├── loop_size3.urdf │ │ │ ├── loop_size3.xacro │ │ │ ├── loop_size5.urdf │ │ │ ├── loop_size5.xacro │ │ │ ├── loop_size7.urdf │ │ │ ├── loop_size7.xacro │ │ │ ├── loop_size9.urdf │ │ │ └── loop_size9.xacro │ │ └── implicit_parallel_chains_properties.xacro │ └── parallel_chains_properties.xacro │ ├── revolute_rotor_branch.xacro │ ├── revolute_rotor_pair_branch.xacro │ ├── revolute_rotor_pair_properties.xacro │ ├── revolute_rotor_properties.xacro │ ├── variable_four_bar_urdf │ ├── approx_four_bar_branch_1_1.urdf │ ├── approx_four_bar_branch_1_10.urdf │ ├── approx_four_bar_branch_1_2.urdf │ ├── approx_four_bar_branch_1_3.urdf │ ├── approx_four_bar_branch_1_4.urdf │ ├── approx_four_bar_branch_1_5.urdf │ ├── approx_four_bar_branch_1_6.urdf │ ├── approx_four_bar_branch_1_7.urdf │ ├── approx_four_bar_branch_1_8.urdf │ ├── approx_four_bar_branch_1_9.urdf │ ├── approx_four_bar_branch_2_1.urdf │ ├── approx_four_bar_branch_2_10.urdf │ ├── approx_four_bar_branch_2_2.urdf │ ├── approx_four_bar_branch_2_3.urdf │ ├── approx_four_bar_branch_2_4.urdf │ ├── approx_four_bar_branch_2_5.urdf │ ├── approx_four_bar_branch_2_6.urdf │ ├── approx_four_bar_branch_2_7.urdf │ ├── approx_four_bar_branch_2_8.urdf │ ├── approx_four_bar_branch_2_9.urdf │ ├── approx_four_bar_branch_4_1.urdf │ ├── approx_four_bar_branch_4_10.urdf │ ├── approx_four_bar_branch_4_2.urdf │ ├── approx_four_bar_branch_4_3.urdf │ ├── approx_four_bar_branch_4_4.urdf │ ├── approx_four_bar_branch_4_5.urdf │ ├── approx_four_bar_branch_4_6.urdf │ ├── approx_four_bar_branch_4_7.urdf │ ├── approx_four_bar_branch_4_8.urdf │ ├── approx_four_bar_branch_4_9.urdf │ ├── approx_four_bar_branch_6_1.urdf │ ├── approx_four_bar_branch_6_10.urdf │ ├── approx_four_bar_branch_6_2.urdf │ ├── approx_four_bar_branch_6_3.urdf │ ├── approx_four_bar_branch_6_4.urdf │ ├── approx_four_bar_branch_6_5.urdf │ ├── approx_four_bar_branch_6_6.urdf │ ├── approx_four_bar_branch_6_7.urdf │ ├── approx_four_bar_branch_6_8.urdf │ ├── approx_four_bar_branch_6_9.urdf │ ├── four_bar_branch_1_1.urdf │ ├── four_bar_branch_1_10.urdf │ ├── four_bar_branch_1_2.urdf │ ├── four_bar_branch_1_3.urdf │ ├── four_bar_branch_1_4.urdf │ ├── four_bar_branch_1_5.urdf │ ├── four_bar_branch_1_6.urdf │ ├── four_bar_branch_1_7.urdf │ ├── four_bar_branch_1_8.urdf │ ├── four_bar_branch_1_9.urdf │ ├── four_bar_branch_2_1.urdf │ ├── four_bar_branch_2_10.urdf │ ├── four_bar_branch_2_2.urdf │ ├── four_bar_branch_2_3.urdf │ ├── four_bar_branch_2_4.urdf │ ├── four_bar_branch_2_5.urdf │ ├── four_bar_branch_2_6.urdf │ ├── four_bar_branch_2_7.urdf │ ├── four_bar_branch_2_8.urdf │ ├── four_bar_branch_2_9.urdf │ ├── four_bar_branch_4_1.urdf │ ├── four_bar_branch_4_10.urdf │ ├── four_bar_branch_4_2.urdf │ ├── four_bar_branch_4_3.urdf │ ├── four_bar_branch_4_4.urdf │ ├── four_bar_branch_4_5.urdf │ ├── four_bar_branch_4_6.urdf │ ├── four_bar_branch_4_7.urdf │ ├── four_bar_branch_4_8.urdf │ ├── four_bar_branch_4_9.urdf │ ├── four_bar_branch_6_1.urdf │ ├── four_bar_branch_6_10.urdf │ ├── four_bar_branch_6_2.urdf │ ├── four_bar_branch_6_3.urdf │ ├── four_bar_branch_6_4.urdf │ ├── four_bar_branch_6_5.urdf │ ├── four_bar_branch_6_6.urdf │ ├── four_bar_branch_6_7.urdf │ ├── four_bar_branch_6_8.urdf │ └── four_bar_branch_6_9.urdf │ ├── variable_revolute_pair_urdf │ ├── approx_revolute_rotor_pair_branch_1_1.urdf │ ├── approx_revolute_rotor_pair_branch_1_2.urdf │ ├── approx_revolute_rotor_pair_branch_1_3.urdf │ ├── approx_revolute_rotor_pair_branch_1_4.urdf │ ├── approx_revolute_rotor_pair_branch_1_5.urdf │ ├── approx_revolute_rotor_pair_branch_1_6.urdf │ ├── approx_revolute_rotor_pair_branch_1_7.urdf │ ├── approx_revolute_rotor_pair_branch_2_1.urdf │ ├── approx_revolute_rotor_pair_branch_2_2.urdf │ ├── approx_revolute_rotor_pair_branch_2_3.urdf │ ├── approx_revolute_rotor_pair_branch_2_4.urdf │ ├── approx_revolute_rotor_pair_branch_2_5.urdf │ ├── approx_revolute_rotor_pair_branch_2_6.urdf │ ├── approx_revolute_rotor_pair_branch_2_7.urdf │ ├── approx_revolute_rotor_pair_branch_4_1.urdf │ ├── approx_revolute_rotor_pair_branch_4_2.urdf │ ├── approx_revolute_rotor_pair_branch_4_3.urdf │ ├── approx_revolute_rotor_pair_branch_4_4.urdf │ ├── approx_revolute_rotor_pair_branch_4_5.urdf │ ├── approx_revolute_rotor_pair_branch_4_6.urdf │ ├── approx_revolute_rotor_pair_branch_4_7.urdf │ ├── approx_revolute_rotor_pair_branch_6_1.urdf │ ├── approx_revolute_rotor_pair_branch_6_2.urdf │ ├── approx_revolute_rotor_pair_branch_6_3.urdf │ ├── approx_revolute_rotor_pair_branch_6_4.urdf │ ├── approx_revolute_rotor_pair_branch_6_5.urdf │ ├── approx_revolute_rotor_pair_branch_6_6.urdf │ ├── approx_revolute_rotor_pair_branch_6_7.urdf │ ├── revolute_rotor_pair_branch_1_1.urdf │ ├── revolute_rotor_pair_branch_1_2.urdf │ ├── revolute_rotor_pair_branch_1_3.urdf │ ├── revolute_rotor_pair_branch_1_4.urdf │ ├── revolute_rotor_pair_branch_1_5.urdf │ ├── revolute_rotor_pair_branch_1_6.urdf │ ├── revolute_rotor_pair_branch_1_7.urdf │ ├── revolute_rotor_pair_branch_2_1.urdf │ ├── revolute_rotor_pair_branch_2_2.urdf │ ├── revolute_rotor_pair_branch_2_3.urdf │ ├── revolute_rotor_pair_branch_2_4.urdf │ ├── revolute_rotor_pair_branch_2_5.urdf │ ├── revolute_rotor_pair_branch_2_6.urdf │ ├── revolute_rotor_pair_branch_2_7.urdf │ ├── revolute_rotor_pair_branch_4_1.urdf │ ├── revolute_rotor_pair_branch_4_2.urdf │ ├── revolute_rotor_pair_branch_4_3.urdf │ ├── revolute_rotor_pair_branch_4_4.urdf │ ├── revolute_rotor_pair_branch_4_5.urdf │ ├── revolute_rotor_pair_branch_4_6.urdf │ ├── revolute_rotor_pair_branch_4_7.urdf │ ├── revolute_rotor_pair_branch_6_1.urdf │ ├── revolute_rotor_pair_branch_6_2.urdf │ ├── revolute_rotor_pair_branch_6_3.urdf │ ├── revolute_rotor_pair_branch_6_4.urdf │ ├── revolute_rotor_pair_branch_6_5.urdf │ ├── revolute_rotor_pair_branch_6_6.urdf │ └── revolute_rotor_pair_branch_6_7.urdf │ └── variable_revolute_urdf │ ├── approx_revolute_rotor_branch_1_1.urdf │ ├── approx_revolute_rotor_branch_1_10.urdf │ ├── approx_revolute_rotor_branch_1_2.urdf │ ├── approx_revolute_rotor_branch_1_3.urdf │ ├── approx_revolute_rotor_branch_1_4.urdf │ ├── approx_revolute_rotor_branch_1_5.urdf │ ├── approx_revolute_rotor_branch_1_6.urdf │ ├── approx_revolute_rotor_branch_1_7.urdf │ ├── approx_revolute_rotor_branch_1_8.urdf │ ├── approx_revolute_rotor_branch_1_9.urdf │ ├── approx_revolute_rotor_branch_2_1.urdf │ ├── approx_revolute_rotor_branch_2_10.urdf │ ├── approx_revolute_rotor_branch_2_2.urdf │ ├── approx_revolute_rotor_branch_2_3.urdf │ ├── approx_revolute_rotor_branch_2_4.urdf │ ├── approx_revolute_rotor_branch_2_5.urdf │ ├── approx_revolute_rotor_branch_2_6.urdf │ ├── approx_revolute_rotor_branch_2_7.urdf │ ├── approx_revolute_rotor_branch_2_8.urdf │ ├── approx_revolute_rotor_branch_2_9.urdf │ ├── approx_revolute_rotor_branch_4_1.urdf │ ├── approx_revolute_rotor_branch_4_10.urdf │ ├── approx_revolute_rotor_branch_4_2.urdf │ ├── approx_revolute_rotor_branch_4_3.urdf │ ├── approx_revolute_rotor_branch_4_4.urdf │ ├── approx_revolute_rotor_branch_4_5.urdf │ ├── approx_revolute_rotor_branch_4_6.urdf │ ├── approx_revolute_rotor_branch_4_7.urdf │ ├── approx_revolute_rotor_branch_4_8.urdf │ ├── approx_revolute_rotor_branch_4_9.urdf │ ├── approx_revolute_rotor_branch_6_1.urdf │ ├── approx_revolute_rotor_branch_6_10.urdf │ ├── approx_revolute_rotor_branch_6_2.urdf │ ├── approx_revolute_rotor_branch_6_3.urdf │ ├── approx_revolute_rotor_branch_6_4.urdf │ ├── approx_revolute_rotor_branch_6_5.urdf │ ├── approx_revolute_rotor_branch_6_6.urdf │ ├── approx_revolute_rotor_branch_6_7.urdf │ ├── approx_revolute_rotor_branch_6_8.urdf │ ├── approx_revolute_rotor_branch_6_9.urdf │ ├── revolute_rotor_branch_1_1.urdf │ ├── revolute_rotor_branch_1_10.urdf │ ├── revolute_rotor_branch_1_2.urdf │ ├── revolute_rotor_branch_1_3.urdf │ ├── revolute_rotor_branch_1_4.urdf │ ├── revolute_rotor_branch_1_5.urdf │ ├── revolute_rotor_branch_1_6.urdf │ ├── revolute_rotor_branch_1_7.urdf │ ├── revolute_rotor_branch_1_8.urdf │ ├── revolute_rotor_branch_1_9.urdf │ ├── revolute_rotor_branch_2_1.urdf │ ├── revolute_rotor_branch_2_10.urdf │ ├── revolute_rotor_branch_2_2.urdf │ ├── revolute_rotor_branch_2_3.urdf │ ├── revolute_rotor_branch_2_4.urdf │ ├── revolute_rotor_branch_2_5.urdf │ ├── revolute_rotor_branch_2_6.urdf │ ├── revolute_rotor_branch_2_7.urdf │ ├── revolute_rotor_branch_2_8.urdf │ ├── revolute_rotor_branch_2_9.urdf │ ├── revolute_rotor_branch_4_1.urdf │ ├── revolute_rotor_branch_4_10.urdf │ ├── revolute_rotor_branch_4_2.urdf │ ├── revolute_rotor_branch_4_3.urdf │ ├── revolute_rotor_branch_4_4.urdf │ ├── revolute_rotor_branch_4_5.urdf │ ├── revolute_rotor_branch_4_6.urdf │ ├── revolute_rotor_branch_4_7.urdf │ ├── revolute_rotor_branch_4_8.urdf │ ├── revolute_rotor_branch_4_9.urdf │ ├── revolute_rotor_branch_6_1.urdf │ ├── revolute_rotor_branch_6_10.urdf │ ├── revolute_rotor_branch_6_2.urdf │ ├── revolute_rotor_branch_6_3.urdf │ ├── revolute_rotor_branch_6_4.urdf │ ├── revolute_rotor_branch_6_5.urdf │ ├── revolute_rotor_branch_6_6.urdf │ ├── revolute_rotor_branch_6_7.urdf │ ├── revolute_rotor_branch_6_8.urdf │ └── revolute_rotor_branch_6_9.urdf ├── CMakeLists.txt ├── LICENSE ├── README.md ├── UnitTests ├── CMakeLists.txt ├── googletest-src │ ├── .clang-format │ ├── .gitignore │ ├── .travis.yml │ ├── BUILD.bazel │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── WORKSPACE │ ├── appveyor.yml │ ├── ci │ │ ├── build-linux-bazel.sh │ │ ├── build-platformio.sh │ │ ├── env-linux.sh │ │ ├── env-osx.sh │ │ ├── get-nprocessors.sh │ │ ├── install-linux.sh │ │ ├── install-osx.sh │ │ ├── install-platformio.sh │ │ ├── log-config.sh │ │ └── travis.sh │ ├── googlemock │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTORS │ │ ├── LICENSE │ │ ├── README.md │ │ ├── cmake │ │ │ ├── gmock.pc.in │ │ │ └── gmock_main.pc.in │ │ ├── docs │ │ │ ├── cheat_sheet.md │ │ │ ├── cook_book.md │ │ │ ├── for_dummies.md │ │ │ └── gmock_faq.md │ │ ├── include │ │ │ └── gmock │ │ │ │ ├── gmock-actions.h │ │ │ │ ├── gmock-cardinalities.h │ │ │ │ ├── gmock-function-mocker.h │ │ │ │ ├── gmock-generated-actions.h │ │ │ │ ├── gmock-generated-actions.h.pump │ │ │ │ ├── gmock-generated-function-mockers.h │ │ │ │ ├── gmock-generated-function-mockers.h.pump │ │ │ │ ├── gmock-generated-matchers.h │ │ │ │ ├── gmock-generated-matchers.h.pump │ │ │ │ ├── gmock-matchers.h │ │ │ │ ├── gmock-more-actions.h │ │ │ │ ├── gmock-more-matchers.h │ │ │ │ ├── gmock-nice-strict.h │ │ │ │ ├── gmock-spec-builders.h │ │ │ │ ├── gmock.h │ │ │ │ └── internal │ │ │ │ ├── custom │ │ │ │ ├── README.md │ │ │ │ ├── gmock-generated-actions.h │ │ │ │ ├── gmock-generated-actions.h.pump │ │ │ │ ├── gmock-matchers.h │ │ │ │ └── gmock-port.h │ │ │ │ ├── gmock-internal-utils.h │ │ │ │ ├── gmock-port.h │ │ │ │ └── gmock-pp.h │ │ ├── scripts │ │ │ ├── fuse_gmock_files.py │ │ │ ├── generator │ │ │ │ ├── LICENSE │ │ │ │ ├── README │ │ │ │ ├── README.cppclean │ │ │ │ ├── cpp │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ast.py │ │ │ │ │ ├── gmock_class.py │ │ │ │ │ ├── gmock_class_test.py │ │ │ │ │ ├── keywords.py │ │ │ │ │ ├── tokenize.py │ │ │ │ │ └── utils.py │ │ │ │ └── gmock_gen.py │ │ │ ├── gmock-config.in │ │ │ ├── gmock_doctor.py │ │ │ ├── upload.py │ │ │ └── upload_gmock.py │ │ ├── src │ │ │ ├── gmock-all.cc │ │ │ ├── gmock-cardinalities.cc │ │ │ ├── gmock-internal-utils.cc │ │ │ ├── gmock-matchers.cc │ │ │ ├── gmock-spec-builders.cc │ │ │ ├── gmock.cc │ │ │ └── gmock_main.cc │ │ └── test │ │ │ ├── BUILD.bazel │ │ │ ├── gmock-actions_test.cc │ │ │ ├── gmock-cardinalities_test.cc │ │ │ ├── gmock-function-mocker_nc.cc │ │ │ ├── gmock-function-mocker_nc_test.py │ │ │ ├── gmock-function-mocker_test.cc │ │ │ ├── gmock-generated-actions_test.cc │ │ │ ├── gmock-generated-function-mockers_test.cc │ │ │ ├── gmock-generated-matchers_test.cc │ │ │ ├── gmock-internal-utils_test.cc │ │ │ ├── gmock-matchers_test.cc │ │ │ ├── gmock-more-actions_test.cc │ │ │ ├── gmock-nice-strict_test.cc │ │ │ ├── gmock-port_test.cc │ │ │ ├── gmock-pp-string_test.cc │ │ │ ├── gmock-pp_test.cc │ │ │ ├── gmock-spec-builders_test.cc │ │ │ ├── gmock_all_test.cc │ │ │ ├── gmock_ex_test.cc │ │ │ ├── gmock_leak_test.py │ │ │ ├── gmock_leak_test_.cc │ │ │ ├── gmock_link2_test.cc │ │ │ ├── gmock_link_test.cc │ │ │ ├── gmock_link_test.h │ │ │ ├── gmock_output_test.py │ │ │ ├── gmock_output_test_.cc │ │ │ ├── gmock_output_test_golden.txt │ │ │ ├── gmock_stress_test.cc │ │ │ ├── gmock_test.cc │ │ │ └── gmock_test_utils.py │ ├── googletest │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTORS │ │ ├── LICENSE │ │ ├── README.md │ │ ├── cmake │ │ │ ├── Config.cmake.in │ │ │ ├── gtest.pc.in │ │ │ ├── gtest_main.pc.in │ │ │ ├── internal_utils.cmake │ │ │ └── libgtest.la.in │ │ ├── docs │ │ │ ├── advanced.md │ │ │ ├── faq.md │ │ │ ├── pkgconfig.md │ │ │ ├── primer.md │ │ │ ├── pump_manual.md │ │ │ └── samples.md │ │ ├── include │ │ │ └── gtest │ │ │ │ ├── gtest-death-test.h │ │ │ │ ├── gtest-matchers.h │ │ │ │ ├── gtest-message.h │ │ │ │ ├── gtest-param-test.h │ │ │ │ ├── gtest-printers.h │ │ │ │ ├── gtest-spi.h │ │ │ │ ├── gtest-test-part.h │ │ │ │ ├── gtest-typed-test.h │ │ │ │ ├── gtest.h │ │ │ │ ├── gtest_pred_impl.h │ │ │ │ ├── gtest_prod.h │ │ │ │ └── internal │ │ │ │ ├── custom │ │ │ │ ├── README.md │ │ │ │ ├── gtest-port.h │ │ │ │ ├── gtest-printers.h │ │ │ │ └── gtest.h │ │ │ │ ├── gtest-death-test-internal.h │ │ │ │ ├── gtest-filepath.h │ │ │ │ ├── gtest-internal.h │ │ │ │ ├── gtest-param-util.h │ │ │ │ ├── gtest-port-arch.h │ │ │ │ ├── gtest-port.h │ │ │ │ ├── gtest-string.h │ │ │ │ ├── gtest-type-util.h │ │ │ │ └── gtest-type-util.h.pump │ │ ├── samples │ │ │ ├── prime_tables.h │ │ │ ├── sample1.cc │ │ │ ├── sample1.h │ │ │ ├── sample10_unittest.cc │ │ │ ├── sample1_unittest.cc │ │ │ ├── sample2.cc │ │ │ ├── sample2.h │ │ │ ├── sample2_unittest.cc │ │ │ ├── sample3-inl.h │ │ │ ├── sample3_unittest.cc │ │ │ ├── sample4.cc │ │ │ ├── sample4.h │ │ │ ├── sample4_unittest.cc │ │ │ ├── sample5_unittest.cc │ │ │ ├── sample6_unittest.cc │ │ │ ├── sample7_unittest.cc │ │ │ ├── sample8_unittest.cc │ │ │ └── sample9_unittest.cc │ │ ├── scripts │ │ │ ├── common.py │ │ │ ├── fuse_gtest_files.py │ │ │ ├── gen_gtest_pred_impl.py │ │ │ ├── gtest-config.in │ │ │ ├── pump.py │ │ │ ├── release_docs.py │ │ │ ├── upload.py │ │ │ └── upload_gtest.py │ │ ├── src │ │ │ ├── gtest-all.cc │ │ │ ├── gtest-death-test.cc │ │ │ ├── gtest-filepath.cc │ │ │ ├── gtest-internal-inl.h │ │ │ ├── gtest-matchers.cc │ │ │ ├── gtest-port.cc │ │ │ ├── gtest-printers.cc │ │ │ ├── gtest-test-part.cc │ │ │ ├── gtest-typed-test.cc │ │ │ ├── gtest.cc │ │ │ └── gtest_main.cc │ │ └── test │ │ │ ├── BUILD.bazel │ │ │ ├── googletest-break-on-failure-unittest.py │ │ │ ├── googletest-break-on-failure-unittest_.cc │ │ │ ├── googletest-catch-exceptions-test.py │ │ │ ├── googletest-catch-exceptions-test_.cc │ │ │ ├── googletest-color-test.py │ │ │ ├── googletest-color-test_.cc │ │ │ ├── googletest-death-test-test.cc │ │ │ ├── googletest-death-test_ex_test.cc │ │ │ ├── googletest-env-var-test.py │ │ │ ├── googletest-env-var-test_.cc │ │ │ ├── googletest-filepath-test.cc │ │ │ ├── googletest-filter-unittest.py │ │ │ ├── googletest-filter-unittest_.cc │ │ │ ├── googletest-json-outfiles-test.py │ │ │ ├── googletest-json-output-unittest.py │ │ │ ├── googletest-list-tests-unittest.py │ │ │ ├── googletest-list-tests-unittest_.cc │ │ │ ├── googletest-listener-test.cc │ │ │ ├── googletest-message-test.cc │ │ │ ├── googletest-options-test.cc │ │ │ ├── googletest-output-test-golden-lin.txt │ │ │ ├── googletest-output-test.py │ │ │ ├── googletest-output-test_.cc │ │ │ ├── googletest-param-test-invalid-name1-test.py │ │ │ ├── googletest-param-test-invalid-name1-test_.cc │ │ │ ├── googletest-param-test-invalid-name2-test.py │ │ │ ├── googletest-param-test-invalid-name2-test_.cc │ │ │ ├── googletest-param-test-test.cc │ │ │ ├── googletest-param-test-test.h │ │ │ ├── googletest-param-test2-test.cc │ │ │ ├── googletest-port-test.cc │ │ │ ├── googletest-printers-test.cc │ │ │ ├── googletest-shuffle-test.py │ │ │ ├── googletest-shuffle-test_.cc │ │ │ ├── googletest-test-part-test.cc │ │ │ ├── googletest-test2_test.cc │ │ │ ├── googletest-throw-on-failure-test.py │ │ │ ├── googletest-throw-on-failure-test_.cc │ │ │ ├── googletest-uninitialized-test.py │ │ │ ├── googletest-uninitialized-test_.cc │ │ │ ├── gtest-typed-test2_test.cc │ │ │ ├── gtest-typed-test_test.cc │ │ │ ├── gtest-typed-test_test.h │ │ │ ├── gtest-unittest-api_test.cc │ │ │ ├── gtest_all_test.cc │ │ │ ├── gtest_assert_by_exception_test.cc │ │ │ ├── gtest_environment_test.cc │ │ │ ├── gtest_help_test.py │ │ │ ├── gtest_help_test_.cc │ │ │ ├── gtest_json_test_utils.py │ │ │ ├── gtest_list_output_unittest.py │ │ │ ├── gtest_list_output_unittest_.cc │ │ │ ├── gtest_main_unittest.cc │ │ │ ├── gtest_no_test_unittest.cc │ │ │ ├── gtest_pred_impl_unittest.cc │ │ │ ├── gtest_premature_exit_test.cc │ │ │ ├── gtest_prod_test.cc │ │ │ ├── gtest_repeat_test.cc │ │ │ ├── gtest_skip_environment_check_output_test.py │ │ │ ├── gtest_skip_in_environment_setup_test.cc │ │ │ ├── gtest_skip_test.cc │ │ │ ├── gtest_sole_header_test.cc │ │ │ ├── gtest_stress_test.cc │ │ │ ├── gtest_test_macro_stack_footprint_test.cc │ │ │ ├── gtest_test_utils.py │ │ │ ├── gtest_testbridge_test.py │ │ │ ├── gtest_testbridge_test_.cc │ │ │ ├── gtest_throw_on_failure_ex_test.cc │ │ │ ├── gtest_unittest.cc │ │ │ ├── gtest_xml_outfile1_test_.cc │ │ │ ├── gtest_xml_outfile2_test_.cc │ │ │ ├── gtest_xml_outfiles_test.py │ │ │ ├── gtest_xml_output_unittest.py │ │ │ ├── gtest_xml_output_unittest_.cc │ │ │ ├── gtest_xml_test_utils.py │ │ │ ├── production.cc │ │ │ └── production.h │ ├── library.json │ └── platformio.ini ├── testClusterJoints.cpp ├── testClusterTreeModel.cpp ├── testForwardKinematics.cpp ├── testHelpers.hpp ├── testLoopConstraints.cpp ├── testOrientationTools.cpp ├── testReflectedInertiaAlgos.cpp ├── testRigidBodyDynamicsAlgos.cpp ├── testRigidBodyDynamicsAlgosDerivatives.cpp ├── testSpatialTransforms.cpp └── testUrdfParser.cpp ├── cmake └── grbdaConfig.cmake.in ├── config.h.in ├── grbda-docker ├── Dockerfile ├── build_container ├── clear_container └── start_container ├── images ├── ActuationSubMechanisms.png ├── ConnectivityGraphExample.png ├── ForwardDynamicsBenchmark.png ├── InverseDynamicsBenchmark.png └── InverseOsimBenchmark.png ├── include └── grbda │ ├── Codegen │ ├── CasadiGen.h │ ├── rev_pair_w_rotor_2dof_FD.h │ ├── rev_pair_w_rotor_2dof_FD_ref_inertia.h │ ├── rev_pair_w_rotor_2dof_FD_ref_inertia_diag.h │ ├── rev_pair_w_rotor_2dof_ID.h │ ├── rev_pair_w_rotor_2dof_ID_ref_inertia.h │ ├── rev_pair_w_rotor_2dof_ID_ref_inertia_diag.h │ ├── rev_pair_w_rotor_4dof_FD.h │ ├── rev_pair_w_rotor_4dof_FD_ref_inertia.h │ ├── rev_pair_w_rotor_4dof_FD_ref_inertia_diag.h │ ├── rev_pair_w_rotor_4dof_ID.h │ ├── rev_pair_w_rotor_4dof_ID_ref_inertia.h │ ├── rev_pair_w_rotor_4dof_ID_ref_inertia_diag.h │ ├── rev_w_rotor_2dof_FD.h │ ├── rev_w_rotor_2dof_FD_ref_inertia.h │ ├── rev_w_rotor_2dof_FD_ref_inertia_diag.h │ ├── rev_w_rotor_2dof_ID.h │ ├── rev_w_rotor_2dof_ID_ref_inertia.h │ ├── rev_w_rotor_2dof_ID_ref_inertia_diag.h │ ├── rev_w_rotor_4dof_FD.h │ ├── rev_w_rotor_4dof_FD_ref_inertia.h │ ├── rev_w_rotor_4dof_FD_ref_inertia_diag.h │ ├── rev_w_rotor_4dof_ID.h │ ├── rev_w_rotor_4dof_ID_ref_inertia.h │ └── rev_w_rotor_4dof_ID_ref_inertia_diag.h │ ├── Dynamics │ ├── Body.h │ ├── ClusterJoints │ │ ├── ClusterJoint.h │ │ ├── ClusterJointTypes.h │ │ ├── FourBarJoint.h │ │ ├── FreeJoint.h │ │ ├── GenericJoint.h │ │ ├── LoopConstraint.h │ │ ├── LoopConstraintCaptures.h │ │ ├── README.md │ │ ├── RevoluteJoint.h │ │ ├── RevolutePairJoint.h │ │ ├── RevolutePairWithRotorJoint.h │ │ ├── RevoluteTripleWithRotorJoint.h │ │ ├── RevoluteWithRotorJoint.h │ │ └── Transmissions.h │ ├── ClusterTreeModel.h │ ├── Joints │ │ ├── Joint.h │ │ └── OrientationRepresentation.h │ ├── Nodes │ │ ├── ClusterTreeNode.h │ │ ├── ReflectedInertiaTreeNode.h │ │ ├── RigidBodyTreeNode.h │ │ └── TreeNode.h │ ├── README.md │ ├── ReflectedInertiaTreeModel.h │ ├── RigidBodyTreeModel.h │ └── TreeModel.h │ ├── Robots │ ├── JVRC1_Humanoid.hpp │ ├── MIT_Humanoid.hpp │ ├── MIT_Humanoid_Leg.hpp │ ├── MIT_Humanoid_no_rotors.hpp │ ├── MiniCheetah.hpp │ ├── PlanarLegLinkage.hpp │ ├── Robot.h │ ├── RobotTypes.h │ ├── SerialChains │ │ ├── RevoluteChainWithAndWithoutRotor.hpp │ │ ├── RevoluteChainWithRotor.hpp │ │ ├── RevolutePairChain.hpp │ │ ├── RevolutePairChainWithRotor.hpp │ │ ├── RevoluteTripleChainWithRotor.hpp │ │ └── SerialChain.hpp │ ├── SingleRigidBody.hpp │ ├── TeleopArm.hpp │ ├── Tello.hpp │ └── TelloWithArms.hpp │ ├── Utils │ ├── CasadiEigenCompatibility.h │ ├── Factorization.h │ ├── OrientationTools.h │ ├── Spatial.h │ ├── SpatialInertia.h │ ├── SpatialTransforms.h │ ├── StateRepresentation.h │ ├── Timer.h │ ├── Utilities.h │ └── cppTypes.h │ └── Version.h ├── robot-models ├── double_pendulum.urdf ├── four_bar.urdf ├── jvrc1_humanoid.urdf ├── jvrc1_humanoid.xacro ├── jvrc1_humanoid_approximate.urdf ├── jvrc1_humanoid_approximate.xacro ├── jvrc1_properties.xacro ├── make_urdfs.sh ├── mini_cheetah.urdf ├── mini_cheetah.xacro ├── mini_cheetah_approximate.urdf ├── mini_cheetah_approximate.xacro ├── mini_cheetah_base.urdf ├── mini_cheetah_fl_leg.urdf ├── mini_cheetah_fl_leg.xacro ├── mini_cheetah_fr_leg.urdf ├── mini_cheetah_fr_leg.xacro ├── mini_cheetah_hl_leg.urdf ├── mini_cheetah_hl_leg.xacro ├── mini_cheetah_hr_leg.urdf ├── mini_cheetah_hr_leg.xacro ├── mini_cheetah_leg.urdf ├── mini_cheetah_properties.xacro ├── mit_humanoid.urdf ├── mit_humanoid.xacro ├── mit_humanoid_approximate.urdf ├── mit_humanoid_approximate.xacro ├── mit_humanoid_leg.urdf ├── mit_humanoid_leg.xacro ├── planar_leg_linkage.urdf ├── revolute_rotor_chain.urdf ├── six_bar.urdf ├── tello_humanoid.urdf ├── tello_humanoid.xacro ├── tello_humanoid_approximate.urdf ├── tello_humanoid_approximate.xacro ├── tello_legs.urdf ├── tello_legs.xacro └── tello_properties.xacro ├── scripts ├── install_dependencies.sh ├── matlab │ ├── codegen_revolute_pair_with_rotor.m │ ├── codegen_revolute_with_rotor.m │ ├── codegen_tello.m │ ├── derive_revolute_pair_with_rotor.m │ ├── derive_revolute_with_rotor.m │ ├── derive_tello_hip_differential.m │ ├── derive_tello_knee_ankle_differential.m │ └── gen_code.m ├── run_codegen.sh └── run_matlab_script.sh └── src ├── Codegen ├── CasadiGen.cpp ├── rev_pair_w_rotor_2dof_FD.cpp ├── rev_pair_w_rotor_2dof_FD_ref_inertia.cpp ├── rev_pair_w_rotor_2dof_FD_ref_inertia_diag.cpp ├── rev_pair_w_rotor_2dof_ID.cpp ├── rev_pair_w_rotor_2dof_ID_ref_inertia.cpp ├── rev_pair_w_rotor_2dof_ID_ref_inertia_diag.cpp ├── rev_pair_w_rotor_4dof_FD.cpp ├── rev_pair_w_rotor_4dof_FD_ref_inertia.cpp ├── rev_pair_w_rotor_4dof_FD_ref_inertia_diag.cpp ├── rev_pair_w_rotor_4dof_ID.cpp ├── rev_pair_w_rotor_4dof_ID_ref_inertia.cpp ├── rev_pair_w_rotor_4dof_ID_ref_inertia_diag.cpp ├── rev_w_rotor_2dof_FD.cpp ├── rev_w_rotor_2dof_FD_ref_inertia.cpp ├── rev_w_rotor_2dof_FD_ref_inertia_diag.cpp ├── rev_w_rotor_2dof_ID.cpp ├── rev_w_rotor_2dof_ID_ref_inertia.cpp ├── rev_w_rotor_2dof_ID_ref_inertia_diag.cpp ├── rev_w_rotor_4dof_FD.cpp ├── rev_w_rotor_4dof_FD_ref_inertia.cpp ├── rev_w_rotor_4dof_FD_ref_inertia_diag.cpp ├── rev_w_rotor_4dof_ID.cpp ├── rev_w_rotor_4dof_ID_ref_inertia.cpp └── rev_w_rotor_4dof_ID_ref_inertia_diag.cpp ├── Dynamics ├── ClusterJoints │ ├── ClusterJoint.cpp │ ├── FourBarJoint.cpp │ ├── FreeJoint.cpp │ ├── GenericJoint.cpp │ ├── LoopConstraint.cpp │ ├── RevoluteJoint.cpp │ ├── RevolutePairJoint.cpp │ ├── RevolutePairWithRotorJoint.cpp │ ├── RevoluteTripleWithRotorJoint.cpp │ └── RevoluteWithRotorJoint.cpp ├── ClusterTreeDynamics.cpp ├── ClusterTreeModel.cpp ├── ClusterTreeParsing.cpp ├── Nodes │ ├── ClusterTreeNode.cpp │ ├── ReflectedInertiaTreeNode.cpp │ └── RigidBodyTreeNode.cpp ├── ReflectedInertiaTreeModel.cpp ├── RigidBodyTreeDynamics.cpp ├── RigidBodyTreeModel.cpp └── TreeModel.cpp ├── Robots ├── JVRC1_Humanoid.cpp ├── MIT_Humanoid.cpp ├── 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