Abstract: This paper develops estimators for locating a rigid body using the time measurements, and the Doppler as well if it is moving, between the sensors in the rigid body and a few landmarks ...

Abstract: In this letter, we propose a parameterization of the rigid-body inertia tensor that is singularity free, guarantees full physical consistency, and has a straightforward physical ...

This implementation is based on Roy Featherstone Rigid Body Dynamics Algorithms book and other state of the art publications. By default, the build will use the python and pip command to install the ...

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