math/pinocchio
Efficient rigid body dynamics
- Directory:
- math/pinocchio (package's history)
- Package version:
- pinocchio-3.3.0
- Home page:
- http://stack-of-tasks.github.io/pinocchio/
- License:
- 2-clause-bsd
- Source archive:
- Description:
- 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)
- Run dependencies:
- boost-libs>=1.34.1, boost-libs>=1.34.1, casadi>=3.4.5, coal>=3, console-bridge>=0.3, libstdc++, octomap>=1.6.0, urdfdom>=0.2.8
- Build dependencies:
- boost-headers>=1.34.1, cmake>=3.10, digest>=20080510, eigen3>=3.0.0, g++>=4.8, gcc>=3, patch>=2.0, pax, pkg-config>=0.22, pkg_install>=20110805.12, tnftp>=20130505~ssl
- General options:
- c++-compiler alternatives:
- c-compiler alternatives: