docs

featherstone Documentation

User Guides

• Getting Started — Build your first robot, set state, simulate
• Algorithms Guide — ABA, RNEA, CRBA explained with code
• Contact Dynamics — Ground contacts, LCP solver, smooth contacts
• Integration Methods — Choosing the right integrator, split-phase API
• URDF Loading — Load robots from URDF files
• API Patterns — Common recipes: serial chains, floating base, control, FK

API Reference

Full rustdoc: docs.rs/featherstone

Quick Reference

Core types

• ArticulatedBody — kinematic tree of rigid bodies
• GenJoint — joint types (Revolute, Prismatic, Spherical, Floating, Planar, Fixed)
• SpatialInertia — 6x6 spatial inertia matrix
• SpatialTransform — coordinate frame transform

Algorithms

• aba_forward_dynamics(&mut body) — O(n) forward dynamics
• rnea_inverse_dynamics(&body) — O(n) inverse dynamics
• crba_mass_matrix(&body) — mass matrix computation
• gravity_compensation(&body) — static torques
• forward_kinematics(&body) — world-frame transforms

Simulation

• step(&mut body, &config) — one timestep
• IntegrationMethod::SemiImplicitEuler — default, symplectic
• IntegrationMethod::RK4 — 4th-order, smooth dynamics

Contacts

• ground_plane_contacts(&body, height, normal, friction, restitution) — detect contacts
• solve_contact_lcp(&body, &constraints, dt, &config) — rigid contact impulses
• smooth_contact_forces(&body, &constraints, &config) — differentiable contacts