dynamics
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The python implementation of leapfrog does not make use of the fact that drifts can be combined when not storing output, causing it to be slower than necessary. Comparing to the C implementation, it also appears to not be as precise.
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TSP claims to be type agnostic.
There should be tests for this.
In particular Float32 and Complex numbers will be of Interest.
Want to back this issue? **[Post a bounty on it!](https://www.bountysource.com/issues/64400386-add-tests-for-different-number-types-float32-complex?utm_campaign=plugin&utm_content=tracker%2F89129719&utm_medium=issues&utm_source=githu
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DART is a very useful toolkit for implementing sophisticated controllers and easily running physics simulations, but a familiarity with control theory and numerical methods is still necessary in order to get sane results. Since the robotics community consists of people from a broad variety of backgrounds, it would be useful for DART to provide some introductory educational tutorials to familiarize