pinocchio
2.7
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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
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    • PACKAGE
    • README
      • Table of contents
      • Pinocchio main features
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  • 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
  • Namespace pinocchio::rpy
  • View page source

Namespace pinocchio::rpy

Contents

  • Functions

Functions

  • Template Function pinocchio::rpy::computeRpyJacobian

  • Template Function pinocchio::rpy::computeRpyJacobianInverse

  • Template Function pinocchio::rpy::computeRpyJacobianTimeDerivative

  • Template Function pinocchio::rpy::matrixToRpy

  • Template Function pinocchio::rpy::rpyToMatrix(const Eigen::MatrixBase<Vector3Like>&)

  • Template Function pinocchio::rpy::rpyToMatrix(const Scalar&, const Scalar&, const Scalar&)

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