This document outlines the implementation of the robot's kinematics and dynamics using the CasADi C++ interface.
The implementation leverages CasADi's symbolic capabilities to define the transformation matrices and compute the end-effector pose.
The kinematics are implemented in src/control/vehicle_model.cpp and exposed through a CasADi function.
The vehicle's dynamics are formulated using the Fossen method. CasADi is used to symbolically derive the mass matrix, Coriolis and centrifugal terms, and gravity vector. This allows for efficient computation of the inverse dynamics.
The dynamics are implemented in src/control/vehicle_model.cpp and exposed as a CasADi function for use in optimization problems.
- Fossen, T. I. (2011). Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons.
- CasADi: A software framework for nonlinear optimization and optimal control. (n.d.). Retrieved from https://web.casadi.org/