Source code for the paper "On nonlinear geometric transformations of finite elements" implementing various geometrically exact finite element formulations for the special Cosserat rod.

Velocity-based finite element formulation for nonlinear dynamic analysis of beams

Some functions to work with Lie groups SO(3) and SE(3). State Estimation for Robotics

A code for the numerical integration and visualization of a rotating rigid body under no external moments using a quaternion parameterization.