Algorithms

GRiD implements several key rigid body dynamics algorithms

• RNEA (Recursive Newton-Euler Algorithm)
  • Overview
  • Mathematical Background
  • Implementation
  • Example Usage
  • Performance Characteristics
  • See Also
• ABA
• CRBA
• Minv algo
• 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