Flux

PyDy is coming along nicely, with nearly all the vector calculus functionality implemented and nicely polished.  I am writing more tests to ensure that functions operating on vectors involving long kinematic chains are behaving as they should.

Currently, only simple rotations are permitted with PyDy.  This is the next thing I will be tackling, to add space fixed rotations, Euler parameters, Rodrigues parameters, and quaternions.  I may end up even using quaternions for the internal representation of the orientation of the reference frames, but I need to study this more and it would require a fairly major rework of the current code because currently orientations are stored by a standard 3×3 rotation matrix.

Finally, I am in the process of meeting with several professors here at UC Davis, and hopefully a few at Berkeley, Stanford, and a few people in industry to ask them what features they feel would really benefit PyDy.  I have my own ideas, but I want to find out what somebody with 20 years of experience in dynamics would have to say.  I am sure it will prove interesting.