- centroidal dynamics and its analytical derivatives,
- support of multiple precision arithmetic via Boost.Multiprecision or any similar framework,
- computations of kinematic and dynamic regressors for system identification and more,
- and much more with the support of modern Automatic Differentiation frameworks like [CppAD](https://github.com/coin-or/CppAD) or [CasADi](https://web.casadi.org/).
- and much more with the support of modern and open source Automatic Differentiation frameworks like [CppAD](https://github.com/coin-or/CppAD) or [CasADi](https://web.casadi.org/).