Inertial parameter estimation using discrete variational motion equations
A variational approach based on dual quaternions for inertial parameter estimation of a rigid body.
This is an example implementation of the estimation approach presented in the paper “A Dual Quaternion-Based Discrete Variational Approach for Accurate
and Online Inertial Parameter Estimation in Free-Flying robots”, M. Ekal and R. Ventura, ICRA 2020.
The flie that launches everything is main.m.
Simulation of the 6DoF rigid body is done using fast integrators exported via the ACADO toolkit. To install ACADO, follow the instructions here. ACADO needs to be added to path, which can be done in Simulation/ACADO_Int.m. Running ACADO_Int.m should generate the directory SIM_export/.