BodyTree ---------- .. automodule:: classes This class represents a serial modular mechanical system :cite:p:`pustina2023univeral`. A :class:`BodyTree ` consists of :math:`N` :class:`joints ` and :class:`bodies ` serially interconneted. The dynamic terms are computed through the Generalized Inverse Dynamics (GID) and Actuation Inverse Dynamics (AID) algorithms of :cite:p:`pustina2023univeral`. .. autoclass:: BodyTree :show-inheritance: :members: