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Todo List

Member rdControlSet::~rdControlSet ()

Figure out why the default controls can't be deleted.

Member rdDynamicFilter::computeAccelerations (double *x)

aDT should be passed in to promoteControlsToStates().

Member rdForce::computeLineOfAction (double aLineOfAction[3]) const

Check that the line of action is expressed in the proper frame.

Member rdManager::integrate (double startTime)

Check restarting integrations at the very last time step of a previous integration.

Member rdSDFast::setConfiguration (const double aQ[], const double aU[])

Should the states (y) be set when q and u are set?

Class suActuatorPerturbationIndependent

Make the manager a global static variable so that any class can get the manager and query it for information. For example, this class would like to know whether the integrator has been set to use a specified set of time steps. If the manager were available, the integrator could be gotten and queried for this information.

Member suBodyIndAcc::suBodyIndAcc (rdModel *aModel, rdStorage *aStates, rdStorage *aControls, char *aBaseName, char *aDir=NULL, char *aExtension=NULL)

verify induced accelerations are correct

check that code is correct for generalized force case

Member suBodyIndAccCOM::suBodyIndAccCOM (rdModel *aModel, rdStorage *aStates, rdStorage *aControls, char *aBaseName, char *aDir=NULL, char *aExtension=NULL, int aN=0, int aBodyList[]=NULL)

verify induced accelerations are correct

check that code is correct for generalized force case

add initial velocity and ind pos due to init vel and pos to all

Member suBodyPointIndAcc::suBodyPointIndAcc (rdModel *aModel, int aBody, double aPoint[3], rdStorage *aStates, rdStorage *aControls, char *aBaseName, char *aDir=NULL, char *aExtension=NULL)

verify induced accelerations are correct

check that code is correct for generalized force case

add initial velocity and ind pos due to init vel and pos to all

Member suDecompTaylor::computeFrictionFactors (double aT, double *aX, double *aY)

Account for changes in the contact point on BodyB.

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