Template refactor code cleanup#90

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Template_refactor_code_cleanup

May 31, 2026

Commits on May 16, 2026

feat: Added Scalar template types for Eigen vectors and matrices
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refactor: Updated `SpatialMath.h` to use new Scalar templates
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refactor: Moved `SpatialDynamics` to a templated header, with not .cpp
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refactor: Templarised all structs in `DynamicTypes`
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refactor: Templarised `SpatialModel` and `SpatialJoint` with Scalar typename
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refactor: Templarised `RobotDynamics`, `SpatialDynamics`, and `RobotKinematics` using the Scalar typename
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refactor: Rewrote ODE integrators class into a generic `NumericalIntegrator` class that contains Scalar typenames
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fixes: Minor code errors fixed, only observed when built
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fixes: Further fixes from templating relevant files
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Commits on May 17, 2026

Commits on May 19, 2026

Commits on May 21, 2026

chore: Further separate AD, Implicit, and Explicit integration methods with different .inl files
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Commits on May 22, 2026

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Commits on May 28, 2026

fixes(wip): Decided to the developement on AutoDiff on the back burner until I have developed my understanding further, this is in addition to sorting some other aspects of my core implementation out.
SaltyJoss
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Commits on May 31, 2026