├── README.md ├── doc └── images │ └── dae_methods.png ├── libraries └── spatial_v2.1 │ ├── 3D │ ├── rq.m │ ├── rqd.m │ ├── rv.m │ ├── rx.m │ ├── ry.m │ ├── rz.m │ └── skew.m │ ├── READ_ME.txt │ ├── constrained_dynamics │ ├── CSpaceManifold.m │ ├── CartesianConstraint.m │ ├── ConstraintForces.m │ ├── ForwardDynamics.m │ ├── InverseAccelerationMap.m │ ├── InverseDynamics.m │ ├── InverseMap.m │ ├── InverseMapCspace.m │ ├── InverseVelocityMap.m │ ├── InverseVelocityMapCspace.m │ ├── Linearize.m │ ├── StateSpace_Manifold.m │ ├── orthonormalize.m │ ├── sol2ts.m │ ├── solpath2ts.m │ ├── ts2sol.m │ ├── x2sol.m │ ├── xdot.m │ └── ydot.m │ ├── documentation │ ├── download.html │ ├── gammaq.html │ ├── gcmodel.html │ ├── gpl.txt │ ├── hbknote.html │ ├── index.html │ ├── migrate.html │ ├── notice.html │ ├── showmotion.html │ ├── sourceText │ │ ├── EnerMo.txt │ │ ├── FDab.txt │ │ ├── FDcrb.txt │ │ ├── FDfb.txt │ │ ├── FDgq.txt │ │ ├── Fpt.txt │ │ ├── HD.txt │ │ ├── HandC.txt │ │ ├── ID.txt │ │ ├── IDfb.txt │ │ ├── LTDL.txt │ │ ├── LTL.txt │ │ ├── Vpt.txt │ │ ├── Xpt.txt │ │ ├── XtoV.txt │ │ ├── autoTree.txt │ │ ├── crf.txt │ │ ├── crm.txt │ │ ├── doubleElbow.txt │ │ ├── expandLambda.txt │ │ ├── fbanim.txt │ │ ├── fbkin.txt │ │ ├── floatbase.txt │ │ ├── gcFD.txt │ │ ├── gcPosVel.txt │ │ ├── gcontact.txt │ │ ├── gfxExample.txt │ │ ├── jcalc.txt │ │ ├── mcI.txt │ │ ├── mpyH.txt │ │ ├── mpyL.txt │ │ ├── mpyLi.txt │ │ ├── mpyLit.txt │ │ ├── mpyLt.txt │ │ ├── planar.txt │ │ ├── plnr.txt │ │ ├── pluho.txt │ │ ├── plux.txt │ │ ├── rollingdisc.txt │ │ ├── rotx.txt │ │ ├── roty.txt │ │ ├── rotz.txt │ │ ├── rq.txt │ │ ├── rqd.txt │ │ ├── rv.txt │ │ ├── rx.txt │ │ ├── ry.txt │ │ ├── rz.txt │ │ ├── scissor.txt │ │ ├── singlebody.txt │ │ ├── skew.txt │ │ ├── vee.txt │ │ └── xlt.txt │ ├── sysmodel.html │ └── xforms.html │ ├── dynamics │ ├── EnerMo.m │ ├── FDab.m │ ├── FDcrb.m │ ├── FDfb.m │ ├── FDgq.m │ ├── HD.m │ ├── HandC.m │ ├── ID.m │ ├── IDfb.m │ ├── apply_external_forces.m │ ├── fbanim.m │ ├── fbkin.m │ ├── get_gravity.m │ └── jcalc.m │ ├── models_closed_chain │ ├── Scherbot2.m │ ├── TwoPandas.m │ └── fullTwoPandas.m │ ├── models_kinematic_tree │ ├── autoTree.m │ ├── doubleElbow.m │ ├── floatbase.m │ ├── gfxExample.m │ ├── planar.m │ ├── rollingdisc.m │ ├── scissor.m │ ├── singlebody.m │ └── vee.m │ ├── showmotion.m │ ├── simulink │ ├── ex4_anal.m │ ├── example1.mdl │ ├── example2.mdl │ ├── example3.mdl │ ├── example4.mdl │ ├── example5.mdl │ ├── example6.mdl │ ├── example7.mdl │ ├── gcFD.m │ ├── gcPosVel.m │ └── gcontact.m │ ├── sparsity │ ├── LTDL.m │ ├── LTL.m │ ├── expandLambda.m │ ├── mpyH.m │ ├── mpyL.m │ ├── mpyLi.m │ ├── mpyLit.m │ └── mpyLt.m │ ├── spatial │ ├── Fpt.m │ ├── Vpt.m │ ├── Xpt.m │ ├── XtoV.m │ ├── crf.m │ ├── crm.m │ ├── mcI.m │ ├── plnr.m │ ├── pluho.m │ ├── plux.m │ ├── rotx.m │ ├── roty.m │ ├── rotz.m │ └── xlt.m │ └── startup.m └── source ├── collocation_methods ├── CollocationLocal.m ├── CollocationPKT.m ├── CollocationProjection.m ├── 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