pinocchio Documentation

Introduction

This package implements efficient forward kinematics algorithms for multi-body kinematic chains. One of the main features is the separation between models (constant values representing an object) and data (used for intermediate computations).

The main classes are

  • se3::Model that represents a kinematic chain composed of joints that move links with mass and inertia,
  • se3::Data that stores intermediate data for kinematic computations.

Kinematics

The library provides some classes to represent kinematic objects:

Collision Checking

Collision checking between bodies of the kinematic chain and external obstacles is implemented using library hpp-fcl (a modified version of Flexible Collision Library). The computation of the position of objects in 3D space for a given configuration is performed by the following classes:

  • se3::GeometryModel that represents a kinematic chain moving objects,
  • se3::GeometryData that stores intermediate data like the position of objects in a given configuration of the kinematic chain.