TREP
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[edit] trep Software package
The trep software package is software in C and Python to simulate constrained rigid body systems using variational integrators. Over time this software will include synthesis and analysis tools as well, including:
- linearization;
- second-order expansions;
- optimal control;
- spectral analysis;
- linear and nonlinear controllability;
- kinematic reducibility;
- and nonlinear stability analysis.
[edit] Getting Started
trep is a Python extension module. Users will need to have Python (2.5) installed and be familiar with the Python programming language. A good tutorial is available at the Python website.
Download and installation instructions for:
Once trep is installed, you are ready to begin using the software.
[edit] Documentation
The documentation for trep is currently being developed.
[edit] Tutorial
The tutorial for trep is a work in progress, but it already provides a good starting point for learning how to use trep. There are also several demos included in the trep source (See readme.txt in the demos subdirectory) that can be examined.
Tutorial Files:
- trep-tutorial.pdf - Tutorial
- pccd.py - Source code for Section 2
- pccd-sexp.py - Source code for Section 3
- pccd-sexp.lsp - System definition for Section 3
[edit] Library Manual
The trep library manual is a detailed reference guide to trep's interface and common usage. The manual is currently being written and not available yet. For now, use the built-in Python documentation (e.g. the help() command) to see what is available and how to use it.
[edit] Developer Manual
The trep developer manual is a detailed guide to the internal design of trep to help developers get started improving and extending the library. The manual is currently being written and not available at this time.
[edit] Further Help
For questions regarding trep, please contact Elliot Johnson at 
.