While we encourage feedback concerning these packages, and will do our best to fix errors and/or improve the code, we make no guarantees that we will be able to respond to all feedback in a timely and/or useful manner. Having said that, do feel free to contact us:
The packages are:
[Affine.m] [DerivativeOptions.m] [SMCS.m] [Tensors.m]
(The package DerivativeOptions is loaded by Tensors, but has no function worth documenting.)
There are also Mathematica® notebooks that have been
developed to illustrate how the packages are to be used:
[affine.nb] [SMCS.nb] [snakeboard.nb] [tensors.nb]
The notebooks have LaTeX commands in the text, and some of these are macros that are special to the book. However, these should be sufficiently transparent that they will cause no confusion.
The manual (i.e., a concatenation of the above notebooks, converted to LaTeX) is included in the supplementary material for the book Geometric Control of Mechanical Systems.