trep.forces - Forces

Non-conservative forces are modeled in trep by deriving from the Force type. These types of forces include damping and control forces/torques.

These are the types of forces currently built in to trep.

• Damping – Damping on Configuration Variables
• LinearDamper – Linear damper between two points
• ConfigForce – Apply forces to a configuration variable.
• BodyWrench – Apply a body wrench to a frame.
• HybridWrench – Apply a hybrid wrench to a frame.
• SpatialWrench – Apply a spatial wrench to a frame.