pinocchio
2.7
C++ API
Pinocchio PyBind11 helpers
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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
Contributing via Pull Requests
Finding contributions to work on
Licensing
PACKAGE
README
Table of contents
Pinocchio main features
Documentation
Examples
Tutorials
Pinocchio continuous integrations
Performances
Ongoing developments
Installation
ROS
Visualization
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 Struct Jlog6_impl
View page source
Template Struct Jlog6_impl
Defined in
File log.hxx
Struct Documentation
template
<
typename
_Scalar
>
struct
Jlog6_impl
Public Static Functions
template
<
typename
Scalar
,
int
Options
,
typename
Matrix6Like
>
static
inline
void
run
(
const
SE3Tpl
<
Scalar
,
Options
>
&
M
,
const
Eigen
::
MatrixBase
<
Matrix6Like
>
&
Jlog
)