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Add contact and friction dynamics with whole-body control
enhancementNew feature or requestNew feature or requestroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#84 In kmolan/multicalc-rust;Add no_std MLP inference for learned policies
enhancementNew feature or requestNew feature or requestno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreperformanceLatency / throughput focusLatency / throughput focusroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#83 In kmolan/multicalc-rust;Add a MuJoCo simulation wrapper crate
enhancementNew feature or requestNew feature or requestinteropConversions to other crates, SIMD, serializationConversions to other crates, SIMD, serializationroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelstestingTest infrastructureTest infrastructureStatus: Open.#82 In kmolan/multicalc-rust;Add an infinite-horizon LQR controller
controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestlinalgVectors, matrices, decompositionsVectors, matrices, decompositionsno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreStatus: Open.#81 In kmolan/multicalc-rust;Add a pure-pursuit path follower
controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#80 In kmolan/multicalc-rust;Add an error-state Kalman filter
enhancementNew feature or requestNew feature or requestestimationFilters and state estimationFilters and state estimationno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc corespatialQuaternions, Lie groups, framesQuaternions, Lie groups, framesStatus: Open.#79 In kmolan/multicalc-rust;Add an unscented Kalman filter
enhancementNew feature or requestNew feature or requestestimationFilters and state estimationFilters and state estimationno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreStatus: Open.#78 In kmolan/multicalc-rust;Add an extended Kalman filter
autodiffAutomatic differentiationAutomatic differentiationenhancementNew feature or requestNew feature or requestestimationFilters and state estimationFilters and state estimationno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreStatus: Open.#77 In kmolan/multicalc-rust;Add condensed linear MPC with input constraints
controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreoptimizationRoot finding, least squares, manifold optimizationRoot finding, least squares, manifold optimizationStatus: Open.#76 In kmolan/multicalc-rust;Add null-space redundancy resolution for inverse kinematics
enhancementNew feature or requestNew feature or requestno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreoptimizationRoot finding, least squares, manifold optimizationRoot finding, least squares, manifold optimizationroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#75 In kmolan/multicalc-rust;Add a ROS 2 bridge
enhancementNew feature or requestNew feature or requestinteropConversions to other crates, SIMD, serializationConversions to other crates, SIMD, serializationroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#74 In kmolan/multicalc-rust;Add actuator dynamics
controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#73 In kmolan/multicalc-rust;