pinocchio
2.7
C++ API
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CHANGELOG
Changelog
Unreleased
2.7.1 - 2024-04-26
2.7.0 - 2024-01-23
2.6.21 - 2023-11-27
2.6.20 - 2023-08-09
2.6.19 - 2023-06-19
2.6.18 - 2023-04-29
2.6.17 - 2023-02-15
2.6.16 - 2023-02-02
2.6.15 - 2023-01-31
2.6.14 - 2023-01-13
2.6.13 - 2023-01-12
2.6.12 - 2022-11-06
2.6.11 - 2022-10-25
2.6.10 - 2022-09-14
2.6.9 - 2022-08-12
2.6.8 - 2022-06-06
2.6.7 - 2022-05-03
2.6.6 - 2022-03-22
2.6.5 - 2022-02-14
2.6.4 - 2021-11-02
2.6.3 - 2021-07-27
2.6.2 - 2021-07-05
2.6.1 - 2021-06-08
2.6.0 - 2021-04-11
2.5.6 - 2021-01-23
2.5.5 - 2021-01-07
2.5.4 - 2020-11-26
2.5.3 - 2020-11-13
2.5.2 - 2020-11-02
2.5.1 - 2020-10-12
2.5.0 - 2020-08-31
2.4.7 - 2020-07-20
2.4.6 - 2020-06-15
2.4.5 - 2020-05-23
2.4.4 - 2020-05-13
2.4.3 - 2020-04-24
2.4.2 - 2020-04-21
2.4.1 - 2020-04-15
2.4.0 - 2020-04-09
2.3.1 - 2020-02-20
2.3.0 - 2020-02-18
2.2.3 - 2019-12-30
2.2.2 - 2019-12-11
2.2.1 - 2019-11-25
2.2.0 - 2019-11-25
2.1.11 - 2019-10-27
2.1.10 - 2019-10-25
2.1.9 - 2019-10-09
2.1.8 - 2019-09-30
2.1.7 - 2019-09-10
2.1.6 - 2019-08-05
2.1.5 - 2019-07-16
2.1.4 - 2019-06-22
2.1.3 - 2019-04-30
2.1.2 - 2019-04-05
2.1.1 - 2019-03-27
2.1.0 - 2019-02-27
2.0.0 - 2019-01-11
1.3.3 - 2018-10-29
1.3.2 - 2018-10-26
1.3.1 - 2018-09-25
1.3.0 - 2018-08-28
1.2.9 - 2018-06-01
1.2.8 - 2018-05-18
1.2.7 - 2018-04-03
1.2.6 - 2018-01-15
1.2.5 - 2017-10-10
1.2.4 - 2017-06-09
1.2.3 - 2017-02-14
1.2.1 - 2016-10-17
1.2.0 - 2016-09-29
1.1.2 - 2016-05-31
1.1.0 - 2016-02-04
1.0.2 - 2015-09-14
1.0.0 - 2015-04-03
CONTRIBUTING
Contributing Guidelines
Reporting Bugs/Feature Requests
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Licensing
PACKAGE
README
Table of contents
Pinocchio main features
Documentation
Examples
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Pinocchio continuous integrations
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Ongoing developments
Installation
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Citing Pinocchio
Questions and Issues
Credits
Open-source projects relying on Pinocchio
Acknowledgments
Documentation
Overview {#index}
Porting from Pinocchio 1.3.3 to 2.0.0
a-features/
Spatial Algebra module
Model and data
Joints
Loading the model
Dealing with Lie group geometry {#e-lie}
Kinematic algorithms
Dynamc algorithms
Operational frames
Geometric models
Main features of Pinocchio
Analytical derivatives
Automatic differentiation and source code generation
Python bindings
Unit tests
d-practical-exercises/
1) Move your body (aka direct geometry)
2) Grasp an object (aka inverse Geometry)
3) Drag and Drop (aka Inverse kinematics)
4) Snap your fingers (aka direct and inverse dynamics)
5) Look ahead (aka motion planning)
6) Take a walk (aka optimal control)
7) Learning to fly (aka policy learning)
Practical Exercises
b-examples/
Loading the model
Geometry models
Load and display a model
Collision detection and distances
Inverse kinematics (clik)
Build reduced model
Update model after loading its URDF
Examples
b-examples/display/
Display a model using GepettoViewer
Display a model using Meshcat
Display a model using RobotWrapper
c-maths/
Rigid Bodies
Joint dynamics
Mathematical formulation
CheatSheet: SE(3) operations
Index
pinocchio
C++ API
Template Function pinocchio::operator*(const typename traits<M1>::Scalar, const MotionDense<M1>&)
View page source
Template Function pinocchio::operator*(const typename traits<M1>::Scalar, const MotionDense<M1>&)
Defined in
File motion-dense.hpp
Function Documentation
template
<
typename
M1
>
traits
<
M1
>
::
MotionPlain
pinocchio
::
operator
*
(
const
typename
traits
<
M1
>
::
Scalar
alpha
,
const
MotionDense
<
M1
>
&
v
)