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Non-Euclidean variables
Custom Jacobians
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Mechanics
Spring equilibrium
Cloth draping
Truss analysis
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Camera calibration
SE(2) pose graph
SE(3) pose graph
Bundle adjustment
SMPL-H shape fitting
Robotics
Inverse kinematics
Obstacle avoidance
Cart-pole (collocation)
Cart-pole (shooting)
Cam profile optimization
IMU fusion + calibration
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Manifold allocation
Reparameterized allocation
CVaR allocation
Black-Litterman allocation
API Reference
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Lie group variables
Solver configuration
Covariance Estimation
Design Notes
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Sparse matrices
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Mechanics
Mechanics
#
Spring equilibrium
Cloth draping
Truss analysis