Section: robotpkg/math
Priority: extra
Maintainer: openrobots@laas.fr
Source: /opt/robotpkg/var/lib/robotpkg/packages/bsd/Debian-12-x86_64/pub/pinocchio-4.1.0.tgz
Package: robotpkg-pinocchio
Version: 4.1.0
Architecture: amd64
Homepage: http://stack-of-tasks.github.io/pinocchio/
Depends: robotpkg-jrl-cmakemodules (= 2.1.0) | robotpkg-jrl-cmakemodules (= 1.1.2), robotpkg-example-robot-data (= 4.2.0) | robotpkg-example-robot-data (= 5.0.0) | robotpkg-example-robot-data (= 4.1.0) | robotpkg-example-robot-data (= 4.4.0), robotpkg-coal (= 3.0.0r1) | robotpkg-coal (= 3.0.4) | robotpkg-coal (= 3.0.1) | robotpkg-coal (= 3.0.0) | robotpkg-coal (= 3.0.2), robotpkg-casadi (= 3.7.2) | robotpkg-casadi (= 3.6.7) | robotpkg-casadi (= 3.7.2r1), libboost-filesystem1.74-dev (>= 1.34.1), libboost-filesystem1.74.0 (>= 1.34.1), libboost-system1.74-dev (>= 1.34.1), libboost-system1.74.0 (>= 1.34.1), libconsole-bridge-dev (>= 0.3), libstdc++6, liboctomap-dev (>= 1.6.0), liburdfdom-dev (>= 0.2.8)
Conflicts: robotpkg-pinocchio
Provides: robotpkg-pinocchio
Replaces: robotpkg-pinocchio
Description: Efficient rigid body dynamics
 License: 2-clause-bsd
 Debian-Packager: robotpkg@laas.fr
 Pinocchio is a C++ library for dynamic computations focusing on robotic,
 computer animation and biomechanical applications. It is based on the dynamic
 multi-body computations formalized by Featherstone in his book.
 The software comes with a python wrapping and vizualisation tool, available
 separately in the py-pinocchio package.
 .
 The following algorithms are implemented.
  * Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics)
  * Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix)
  * Sparse Cholsky decomposition of the inertia matrix (for constrained
    forward-dynamics resolution)
  * Placement Jacobians (i.e application from configuration velocities to
    end-effector spatial velocities), along with computation of body placements,
    velocities and accelerations.
  * Center of mass and its Jacobian
 .
 The model can be parsed from a URDF format. The following joint models are
 implemented.
  * Revolute X, Y, Z (optimized) and unaligned with Cartesian directions
  * Prismatic X, Y, Z
  * Sperical (quaternion representation)
  * Free (i.e. no constraint, for mobile robots like humanoids -- using
    quaternion representation for the rotation)
 .
 Homepage:
 http://stack-of-tasks.github.io/pinocchio/

