Algorithms
==========

GRiD implements several key rigid body dynamics algorithms

.. toctree::
    :maxdepth: 2

    rnea
    aba
    crba
    minv
    idsva

Algorithm Overview
------------------

Here's a quick overview of the main algorithms:

* **RNEA**: Recursive Newton-Euler Algorithm
* **CRBA**: Composite Rigid Body Algorithm
* **ABA**: Articulated Body Algorithm
* **Minv**: Inverse Mass Matrix Algorithm
* **IDSVA**: Inverse Dynamics Spatial Vector Algorithm