New/fixing derivs no benchmarks#100

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new/fixing_derivs_no_benchmarks

Commits on Oct 23, 2025

Forward pass on first order derivatives
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Commits on Oct 28, 2025

Added a backward pass and changed derivative matrix dimensions.
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Commits on Oct 31, 2025

Added swapped force product to first order derivative function and added some efficiencies after review.
DVolpi256
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Commits on Nov 3, 2025

Tested firstOrderInverseDynamicsDeriviatives with additional lines in two unit test files and fixed the
DVolpi256
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Commits on Nov 20, 2025

Added S_ring terms
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Commits on Dec 5, 2025

Commits on Dec 12, 2025

Debugged the rest of the ID derivatives function, and now the test passes.
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Commits on Dec 13, 2025

Added std::complex<double> support from the complex step branch
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Commits on Dec 16, 2025

Commits on Dec 17, 2025

Made separate tests for the inverse dynamics derivatives. One does a finite difference and the other does a complex step. They work well for the double pendulum case. The three link and four link s…
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Commits on Dec 19, 2025

Commits on Dec 20, 2025

Added comments to ClusterTreeDynamics.cpp documenting necessary gradient terms
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Commits on Dec 28, 2025

Needed to address how the complex model of the mini cheetah was building to get the complex step test of the Mini Cheetah to work. The Mini Cheetah should now successfully pass validation for the I…
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Commits on Dec 31, 2025

Made the first steps to add in derivative terms. Joints that have zero derivative terms still function, and there is architecture in place for non-zero terms.
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Commits on Jan 1, 2026

Created a revolute pair absolute joint to test a non-zero derivative terms case. It appears to work well.
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Commits on Jan 2, 2026

Made major progress in getting the MIT Humanoid to pass the inverse dynamics derivatives tests. There was a sign error for rotation matrices that was a large source of error.
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Commits on Jan 4, 2026

Implemented derivative term support for all but the generic joint. Will need to examine how accurate the unit tests can be made.
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Commits on Jan 7, 2026

Commits on Jan 8, 2026

Commits on Jan 9, 2026

Commits on Jan 13, 2026

Fixed memory issues that now allow the Four Bar, Tello, and TelloWithArms robots to be verified according to the ImplicitConsntrain tests
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Commits on Jan 14, 2026

Commits on Jan 16, 2026

Added benchmarks for firsOrderIDDerivatives() and made adjustments for speed.
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Commits on Jan 17, 2026

Made various improvements to increase performance. Will need to do another pass on the CRBA refactoring.
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Commits on Jan 18, 2026

Added batched operations for additional speed gains and examined the possibility of precomputing terms in a shared frame. The additional overhead appears to be too costly to implement.
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Commits on Mar 19, 2026

Added robots and adjusted benchmark figure generation for paper, poster, and presentation
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Commits on Mar 24, 2026

Commits on Apr 21, 2026

Commits on Apr 23, 2026

Commits on Apr 24, 2026

Commits on Apr 26, 2026

This is the 80% complete code for switching getSq() to jacobian AD code.
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Commits on Apr 27, 2026

Commits on Apr 28, 2026

Commits on Apr 29, 2026

Commits on Apr 30, 2026

Commits on May 2, 2026

Updated benchmarking files to make newest figures. Also expanded the parallel chain depth test to include more data points for the ten link case. To orun the test, run benchmarkParallelChainDepth. …
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Commits on May 5, 2026

Commits on May 6, 2026

Commits on May 7, 2026

Commits on May 21, 2026

Commits on May 22, 2026

Remove benchmarking divergences from main (profiling instrumentation, benchmark files)
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Commits on May 26, 2026

Commits on May 27, 2026

Commits on Jun 2, 2026

Took out KUKA LWR header in favor of cloning the URDF double model to std::complex
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