How-to guides

Task-focused recipes. Unlike the tutorials, these assume you already know the basics and just want to get a specific thing done.

• Deploy a model to C++ — lower a Sim/EKF/LQR to an Eigen C++ library for embedded use.
• Fit parameters from a log — system-ID against recorded controls + measurements.
• Write a custom Part — add a new part with its own state, inputs, and wrench contribution.
• Write a custom Field or Disturbance — add a new physical field or a new source on an existing one.