Third order Total Lie Bracket Effects - #105

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Capprin wants to merge 12 commits into

OSU-LRAM:masterfrom

Capprin:third-order

Commits on May 12, 2021

Added cyclic diffdrive shape changes, as well as a shape-axis-aligned diffdrive system
Capprin
committed
9b89087
Added calculation of third-order total lie bracket effects, including worst-case polygon points
Capprin
committed
a861bb1
Added helper functions to temporarily (retroactively) plot third order TLB effects
Capprin
committed
ff4ccf2

Commits on Jun 28, 2021

Commits on Aug 2, 2021

Did taylor estimation of the local connection
Capprin
committed
152970c
Made general amplitudes reasonable
Capprin
committed
1ddbb38

Commits on Aug 12, 2021

Established general amplitude/phase for plotting
Capprin
committed
9e15271
Updated diffdrive to include phase
Capprin
committed
d2332c2
Added square gaits; switched back to center A_est
Capprin
committed
1680217