Geometric Numerical Integration in Julia
biorbd + casadi + variational integrator
Numerical experiments analyzing different time integrators & discretizations for the simulation & optimal control of rigid-flexible multibody systems.
Dynamic modeling and simulation of geometrically exact beams using Lie-group variational integrators.
JAX Lie-group operations and structure-preserving variational integrators on SO(3) and SE(3).
Accompanying source code to article "Numerical approaches to entangling dynamics from variational principles"
Maple source code for the VarInt package
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