File List

Here is a list of all files with brief descriptions:

.cmake-format.py
bindings/python/pinocchio/__init__.py
bindings/python/pinocchio/casadi/__init__.py
bindings/python/pinocchio/cppad/__init__.py
bindings/python/pinocchio/cppadcg/__init__.py
bindings/python/pinocchio/mpfr/__init__.py
bindings/python/pinocchio/visualize/__init__.py
models/example-robot-data/python/example_robot_data/__init__.py
__main__.py
src/algorithm/aba-derivatives.cpp
unittest/aba-derivatives.cpp
unittest/casadi/aba-derivatives.cpp
aba-derivatives.hpp
bindings/python/algorithm/parallel/aba.cpp
src/algorithm/aba.cpp
unittest/aba.cpp
unittest/casadi/aba.cpp
algorithm/aba.hpp
algorithm/parallel/aba.hpp
autodiff/cppad/algorithm/aba.hpp
act-on-set.hpp
address.hpp
admm-solver.cpp
admm-solver.hpp
algo-check.cpp
casadi/algorithms.cpp
cppad/algorithms.cpp
cppadcg/algorithms.cpp
algorithms.hpp
container/aligned-vector.hpp
serialization/aligned-vector.hpp
all-joints.cpp
anymal-simulation.py
append-urdf-model-with-another-model.py
archive.hpp
autodiff-rnea.cpp
autodiff-rnea.py
axis-label.hpp
base_visualizer.py
casadi/basic.cpp
cppad/basic.cpp
cppadcg/basic.cpp
binary-op.hpp
bindings.py
bindings_aba.py
bindings_build_geom_from_urdf_memorycheck.py
bindings_centroidal_dynamics_derivatives.py
bindings_com.py
bindings_com_velocity_derivatives.py
bindings_contact_inverse_dynamics.py
bindings_data.py
bindings_dynamics.py
bindings_explog.py
bindings_fcl_transform.py
bindings_force.py
bindings_forward_dynamics_derivatives.py
bindings_frame.py
bindings_frame_derivatives.py
bindings_geometry_model.py
bindings_geometry_model_urdf.py
bindings_geometry_object.py
bindings_inertia.py
bindings_inverse_dynamics_derivatives.py
bindings_joint_algorithms.py
bindings_joint_composite.py
bindings_joints.py
bindings_kinematic_regressor.py
bindings_kinematics.py
bindings_kinematics_derivatives.py
bindings_liegroups.py
bindings_main_algo.py
bindings_model.py
bindings_motion.py
bindings_regressor.py
bindings_rnea.py
bindings_sample_models.py
bindings_SE3.py
bindings_spatial.py
bindings_std_map.py
bindings_std_vector.py
bindings_Symmetric3.py
bindings_urdf.py
boost-container-limits.hpp
boost_number.cpp
broadphase-callbacks.hpp
bindings/python/collision/broadphase-manager-base.hpp
collision/broadphase-manager-base.hpp
bindings/python/collision/broadphase-manager.hpp
bindings/python/collision/pool/broadphase-manager.hpp
collision/broadphase-manager.hpp
collision/pool/broadphase-manager.hpp
bindings/python/collision/parallel/broadphase.cpp
unittest/broadphase.cpp
broadphase.hpp
parallel/broadphase.hpp
build-reduced-model.cpp
build-reduced-model.py
capsule-approximation.py
cartesian-axis.hpp
cartesian-product-liegroups.cpp
cartesian-product-variant.hpp
cartesian-product.hpp
cartpole.py
casadi-aba.cpp
casadi-algo.hpp
casadi-rnea.cpp
casadi-utils.hpp
autodiff/casadi.hpp
bindings/python/context/casadi.hpp
context/casadi.hpp
math/casadi.hpp
cassie-simulation.py
bindings/python/utils/cast.hpp
utils/cast.hpp
src/algorithm/center-of-mass-derivatives.cpp
unittest/center-of-mass-derivatives.cpp
center-of-mass-derivatives.hpp
center-of-mass.cpp
center-of-mass.hpp
src/algorithm/centroidal-derivatives.cpp
unittest/centroidal-derivatives.cpp
centroidal-derivatives.hpp
src/algorithm/centroidal.cpp
unittest/centroidal.cpp
centroidal.hpp
algorithm/check.hpp
utils/check.hpp
src/algorithm/cholesky.cpp
unittest/cholesky.cpp
cholesky.hpp
classic-acceleration.cpp
bindings/python/spatial/classic-acceleration.hpp
spatial/classic-acceleration.hpp
closed-loop-dynamics.cpp
code-generator-algo.hpp
code-generator-base.hpp
codegen-crba.cpp
codegen-rnea.cpp
codegen-rnea.py
collision-with-point-clouds.py
collision.cpp
bindings/python/collision/collision.hpp
collision/collision.hpp
collisions.cpp
collisions.py
com.cpp
common_symbols.py
comparable.hpp
comparison-operators.hpp
src/algorithm/compute-all-terms.cpp
unittest/compute-all-terms.cpp
compute-all-terms.hpp
console-bridge.cpp
constant.hpp
src/algorithm/constrained-dynamics-derivatives.cpp
unittest/constrained-dynamics-derivatives.cpp
constrained-dynamics-derivatives.hpp
src/algorithm/constrained-dynamics.cpp
unittest/constrained-dynamics.cpp
constrained-dynamics.hpp
constrained-problem-data.hpp
constraint-data-base.hpp
constraint-data-generic.hpp
constraint-dynamics-derivatives.cpp
constraint-dynamics.cpp
constraint-model-base.hpp
constraint-model-generic.hpp
constraint-model-visitor.hpp
constraint-variants.cpp
constraints.hpp
src/algorithm/contact-cholesky.cpp
unittest/contact-cholesky.cpp
algorithm/contact-cholesky.hpp
bindings/python/algorithm/contact-cholesky.hpp
contact-cholesky.py
contact-dynamics-derivatives.cpp
src/algorithm/contact-dynamics.cpp
unittest/contact-dynamics.cpp
unittest/cppadcg/contact-dynamics.cpp
contact-dynamics.hpp
algorithm/contact-info.hpp
bindings/python/algorithm/contact-info.hpp
contact-inverse-dynamics.cpp
contact-inverse-dynamics.hpp
contact-jacobian.cpp
contact-jacobian.hpp
contact-models.cpp
algorithm/contact-solver-base.hpp
bindings/python/algorithm/contact-solver-base.hpp
contact-solver-utils.hpp
contact.hpp
bindings/python/context.hpp
context.hpp
continuous.py
conversions.cpp
conversions.hpp
copy.cpp
copy.hpp
copyable.hpp
coulomb-friction-cone.cpp
algorithm/constraints/coulomb-friction-cone.hpp
bindings/python/algorithm/constraints/coulomb-friction-cone.hpp
cpp2pybind11.cpp
autodiff/cppad.hpp
bindings/python/context/cppad.hpp
context/cppad.hpp
math/cppad.hpp
bindings/python/context/cppadcg.hpp
codegen/cppadcg.hpp
context/cppadcg.hpp
math/cppadcg.hpp
src/algorithm/crba.cpp
unittest/crba.cpp
crba.hpp
csv.cpp
csv.hpp
src/multibody/data.cpp
unittest/data.cpp
bindings/python/multibody/data.hpp
multibody/data.hpp
serialization/data.hpp
dcrba.py
default-check.hpp
bindings/python/context/default.hpp
context/default.hpp
delassus-operartor-ref.hpp
delassus-operator-base.hpp
delassus-operator-dense.hpp
delassus-operator-rigid-body.hpp
delassus-operator-sparse.hpp
delassus-operator.hpp
delassus.cpp
delassus.hpp
dependencies.cpp
dependencies.hpp
deprecated-macros.hpp
deprecated-namespaces.hpp
deprecated.py
bindings/python/utils/deprecation.hpp
deprecation.hpp
deprecation.py
derivatives.cpp
display-shapes-meshcat.py
display-shapes.py
display.py
distance.cpp
distance.hpp
dpendulum.py
cmake/cython/dummy.cpp
models/example-robot-data/cmake/cython/dummy.cpp
eigen-basic-op.cpp
eigen-fix.hpp
eigen-macros.hpp
eigen-tensor.cpp
bindings/python/utils/eigen.hpp
serialization/eigen.hpp
eigen_plugin.hpp
eigenvalues.cpp
eigenvalues.hpp
src/algorithm/energy.cpp
unittest/energy.cpp
energy.hpp
explog-quaternion.hpp
casadi/explog.cpp
explog.cpp
bindings/python/spatial/explog.hpp
spatial/explog.hpp
bindings/python/pinocchio/explog.py
unittest/python/explog.py
expose-aba-derivatives.cpp
expose-aba.cpp
expose-algorithms.cpp
expose-broadphase-callbacks.cpp
expose-broadphase.cpp
expose-cat.cpp
expose-centroidal-derivatives.cpp
expose-centroidal.cpp
expose-cholesky.cpp
expose-collision.cpp
expose-com.cpp
expose-cones.cpp
expose-constrained-dynamics-derivatives.cpp
expose-constrained-dynamics.cpp
expose-contact-dynamics.cpp
expose-contact-inverse-dynamics.cpp
expose-contact-jacobian.cpp
expose-contact-solvers.cpp
expose-crba.cpp
expose-data.cpp
expose-delassus.cpp
expose-eigen-types.cpp
expose-energy.cpp
expose-explog.cpp
expose-extras.cpp
expose-fcl.cpp
expose-force.cpp
expose-frame.cpp
expose-frames-derivatives.cpp
expose-frames.cpp
algorithm/expose-geometry.cpp
multibody/expose-geometry.cpp
expose-impulse-dynamics-derivatives.cpp
expose-impulse-dynamics.cpp
expose-inertia.cpp
expose-jacobian.cpp
algorithm/expose-joints.cpp
multibody/joint/expose-joints.cpp
expose-kinematic-regressor.cpp
expose-kinematics-derivatives.cpp
expose-kinematics.cpp
expose-lanczos-decomposition.cpp
expose-liegroups.cpp
expose-linalg.cpp
algorithm/expose-model.cpp
multibody/expose-model.cpp
expose-motion.cpp
algorithm/parallel/expose-parallel.cpp
collision/parallel/expose-parallel.cpp
expose-parsers.cpp
collision/pool/expose-pool.cpp
multibody/pool/expose-pool.cpp
expose-reachable-workspace.cpp
expose-regressor.cpp
expose-rnea-derivatives.cpp
expose-rnea.cpp
expose-rpy.cpp
expose-SE3.cpp
expose-skew.cpp
expose-symmetric3.cpp
expose-tridiagonal-matrix.cpp
extras.hpp
factor.py
collision/fcl-pinocchio-conversions.hpp
spatial/fcl-pinocchio-conversions.hpp
multibody/fcl.hpp
serialization/fcl.hpp
file-explorer.cpp
file-explorer.hpp
file-io.hpp
finite-differences.cpp
floating-base-velocity-viewer.py
foot_steps.py
force-base.hpp
force-dense.hpp
force-ref.hpp
force-set.hpp
force-tpl.hpp
force.cpp
algorithm/utils/force.hpp
bindings/python/spatial/force.hpp
serialization/force.hpp
spatial/force.hpp
forward-dynamics-derivatives.cpp
forward-dynamics-derivatives.py
bindings/python/multibody/frame.hpp
multibody/frame.hpp
serialization/frame.hpp
src/algorithm/frames-derivatives.cpp
unittest/frames-derivatives.cpp
frames-derivatives.hpp
src/algorithm/frames.cpp
unittest/frames.cpp
frames.hpp
fusion.cpp
fusion.hpp
algorithm/constraints/fwd.hpp
algorithm/fwd.hpp
bindings/python/fwd.hpp
collision/pool/fwd.hpp
fwd.hpp
math/fwd.hpp
multibody/fwd.hpp
multibody/joint/fwd.hpp
multibody/liegroup/fwd.hpp
multibody/pool/fwd.hpp
serialization/fwd.hpp
spatial/fwd.hpp
bindings/python/context/generic.hpp
context/generic.hpp
geometry-algorithms.cpp
geometry-data.hpp
geometry-functors.hpp
geometry-model.cpp
geometry-model.hpp
geometry-models.cpp
geometry-models.py
geometry-object-filter.hpp
geometry-object.cpp
bindings/python/multibody/geometry-object.hpp
multibody/geometry-object.hpp
bindings/python/collision/parallel/geometry.cpp
bindings/python/parsers/mjcf/geometry.cpp
bindings/python/parsers/sdf/geometry.cpp
bindings/python/parsers/urdf/geometry.cpp
src/algorithm/geometry.cpp
src/parsers/sdf/geometry.cpp
src/parsers/urdf/geometry.cpp
algorithm/geometry.hpp
algorithm/parallel/geometry.hpp
bindings/python/collision/pool/geometry.hpp
collision/parallel/geometry.hpp
multibody/geometry.hpp
multibody/pool/geometry.hpp
serialization/geometry.hpp
gepetto-viewer.py
gepetto_visualizer.py
cmake/git-archive-all.py
models/example-robot-data/cmake/git-archive-all.py
gram-schmidt-orthonormalisation.cpp
gram-schmidt-orthonormalisation.hpp
graph.py
helpers.hpp
impulse-dynamics-derivatives.cpp
impulse-dynamics-derivatives.hpp
src/algorithm/impulse-dynamics.cpp
unittest/impulse-dynamics.cpp
impulse-dynamics.hpp
bindings/python/spatial/inertia.hpp
serialization/inertia.hpp
spatial/inertia.hpp
instance-filter.hpp
integrate-derivatives.cpp
interpolation-SE3.cpp
inverse-dynamics-derivatives.cpp
inverse-dynamics-derivatives.py
inverse-dynamics.cpp
inverse-dynamics.py
inverse-kinematics-3d.cpp
inverse-kinematics-3d.py
inverse-kinematics.cpp
inverse-kinematics.py
jacobian.cpp
jacobian.hpp
joint-base.hpp
joint-basic-visitors.hpp
joint-binary-visitor.hpp
joint-collection.hpp
joint-common-operations.hpp
joint-composite.cpp
joint-composite.hpp
joint-configuration.cpp
joint-configuration.hpp
cppad/joint-configurations.cpp
cppadcg/joint-configurations.cpp
joint-configurations.cpp
joint-data-base.hpp
joint-data.hpp
joint-derived.hpp
joint-free-flyer.cpp
joint-free-flyer.hpp
joint-generic.cpp
joint-generic.hpp
joint-helical-unaligned.hpp
joint-helical.cpp
joint-helical.hpp
joint-jacobian.cpp
joint-mimic.cpp
joint-mimic.hpp
joint-model-base.hpp
joint-model.hpp
joint-motion-subspace-base.hpp
joint-motion-subspace-generic.hpp
joint-motion-subspace.cpp
joint-motion-subspace.hpp
joint-planar.cpp
joint-planar.hpp
joint-prismatic-unaligned.hpp
joint-prismatic.cpp
joint-prismatic.hpp
joint-revolute-unaligned.hpp
joint-revolute-unbounded-unaligned.hpp
joint-revolute-unbounded.hpp
joint-revolute.cpp
joint-revolute.hpp
joint-spherical-ZYX.hpp
joint-spherical.cpp
joint-spherical.hpp
joint-translation.cpp
joint-translation.hpp
joint-unary-visitor.hpp
joint-universal.cpp
joint-universal.hpp
joint.hpp
joints-data.hpp
joints-datas.hpp
joints-model.hpp
joints-models.hpp
joints-motion-subspace.hpp
joints-motion.hpp
joints-transform.hpp
joints-variant.hpp
casadi/joints.cpp
cppad/joints.cpp
multibody/joint/joints.hpp
serialization/joints.hpp
examples/kinematics-derivatives.cpp
src/algorithm/kinematics-derivatives.cpp
unittest/kinematics-derivatives.cpp
kinematics-derivatives.hpp
kinematics-derivatives.py
src/algorithm/kinematics.cpp
unittest/kinematics.cpp
kinematics.hpp
lambdas.py
lanczos-decomposition.cpp
bindings/python/math/lanczos-decomposition.hpp
math/lanczos-decomposition.hpp
cmake/_unittests/cpp/src/lib.cc
models/example-robot-data/cmake/_unittests/cpp/src/lib.cc
cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh
models/example-robot-data/cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh
liegroup-algo.hpp
liegroup-base.hpp
liegroup-collection.hpp
liegroup-generic.hpp
liegroup-variant-visitors.hpp
liegroup.hpp
liegroups.cpp
liegroups.hpp
list.hpp
load_urdf.cpp
log.hpp
macros.cpp
include/pinocchio/bindings/python/utils/macros.hpp
include/pinocchio/macros.hpp
unittest/utils/macros.hpp
cmake/_unittests/cpp/src/main.cc
models/example-robot-data/cmake/_unittests/cpp/src/main.cc
matrix-block.hpp
autodiff/casadi/math/matrix.hpp
math/matrix.hpp
meshcat-viewer-dae.py
meshcat-viewer-octree.py
meshcat-viewer-solo.py
meshcat-viewer.py
meshcat_visualizer.py
meshloader-fwd.hpp
mjcf-graph-geom.cpp
mjcf-graph.cpp
mjcf-graph.hpp
mjcf.cpp
bindings/python/parsers/mjcf.hpp
parsers/mjcf.hpp
mobilerobot.py
model-generator.hpp
model-item.hpp
bindings/python/parsers/mjcf/model.cpp
bindings/python/parsers/sdf/model.cpp
bindings/python/parsers/urdf/model.cpp
src/algorithm/model.cpp
src/multibody/model.cpp
src/parsers/python/model.cpp
src/parsers/sdf/model.cpp
src/parsers/urdf/model.cpp
unittest/model.cpp
algorithm/model.hpp
bindings/python/multibody/model.hpp
bindings/python/multibody/pool/model.hpp
multibody/model.hpp
multibody/pool/model.hpp
serialization/model.hpp
module.cpp
motion-base.hpp
motion-dense.hpp
motion-ref.hpp
motion-tpl.hpp
motion-zero.hpp
motion.cpp
algorithm/utils/motion.hpp
bindings/python/spatial/motion.hpp
serialization/motion.hpp
spatial/motion.hpp
mpfr.hpp
multiprecision-mpfr.cpp
multiprecision-mpfr.hpp
examples/multiprecision.cpp
unittest/multiprecision.cpp
multiprecision.hpp
namespace.hpp
number.hpp
ocp.py
cmake/hpp/idl/omniidl_be_python_with_docstring.py
models/example-robot-data/cmake/hpp/idl/omniidl_be_python_with_docstring.py
omp.hpp
openmp.hpp
overview-lie.cpp
overview-SE3.cpp
overview-simple.cpp
overview-simple.py
overview-urdf.cpp
overview-urdf.py
panda3d-viewer-play.py
panda3d-viewer.py
panda3d_visualizer.py
parallel-aba.cpp
parallel-geometry.cpp
parallel-rnea.cpp
path.cpp
include/pinocchio/bindings/python/utils/path.hpp
models/example-robot-data/include/example-robot-data/path.hpp
pendulum.py
pgs-solver.cpp
pgs-solver.hpp
pickle-map.hpp
pickle-vector.hpp
pickle.hpp
pinocchio_read_model.cpp
pixi.py
printable.hpp
prm_display.py
proximal.cpp
algorithm/proximal.hpp
bindings/python/algorithm/proximal.hpp
pv-solver.cpp
pv.hpp
pybind11-all.hpp
pybind11.hpp
cmake/pyproject.py
models/example-robot-data/cmake/pyproject.py
bindings/python/parsers/python.hpp
parsers/python.hpp
cmake/_unittests/python/jrl_cmakemodule/python.py
models/example-robot-data/cmake/_unittests/python/jrl_cmakemodule/python.py
python_parser.cpp
qnet.py
qtable.py
quadrotor-ocp.py
quaternion.cpp
autodiff/casadi/math/quaternion.hpp
autodiff/cppad/math/quaternion.hpp
math/quaternion.hpp
reachable-workspace-with-collisions.py
src/extra/reachable-workspace.cpp
unittest/reachable-workspace.cpp
reachable-workspace.hpp
reachable-workspace.py
registration.hpp
src/algorithm/regressor.cpp
unittest/regressor.cpp
regressor.hpp
src/algorithm/rnea-derivatives.cpp
unittest/casadi/rnea-derivatives.cpp
unittest/rnea-derivatives.cpp
rnea-derivatives.hpp
rnea-second-order-derivatives.cpp
rnea-second-order-derivatives.hpp
bindings/python/algorithm/parallel/rnea.cpp
src/algorithm/rnea.cpp
unittest/rnea.cpp
parallel/rnea.hpp
rnea.hpp
robot-wrapper-viewer.py
robot_hand.py
bindings/python/pinocchio/robot_wrapper.py
unittest/python/robot_wrapper.py
robots_loader.py
romeo_wrapper.py
rotation.cpp
rotation.hpp
rpy.cpp
rpy.hpp
rpy.py
run-algo-in-parallel.py
run_fk.cpp
run_rnea.cpp
rviz-viewer.py
rviz_visualizer.py
sample-model-viewer.py
bindings/python/multibody/sample-models.cpp
src/multibody/sample-models.cpp
unittest/sample-models.cpp
multibody/sample-models.hpp
parsers/sample-models.hpp
sdf.cpp
bindings/python/parsers/sdf.hpp
parsers/sdf.hpp
se3-base.hpp
autodiff/casadi/spatial/se3-tpl.hpp
autodiff/cppad/spatial/se3-tpl.hpp
spatial/se3-tpl.hpp
bindings/python/spatial/se3.hpp
serialization/se3.hpp
spatial/se3.hpp
bindings/python/serialization/serializable.hpp
serialization/serializable.hpp
bindings/python/serialization/serialization.cpp
unittest/serialization.cpp
serialization.hpp
serialization.py
cmake/cython/setup.in.py
models/example-robot-data/cmake/cython/setup.in.py
shared-ptr.hpp
shortcuts.py
sign.hpp
simple_model.py
simulation-closed-kinematic-chains.py
simulation-contact-dynamics.py
simulation-inverted-pendulum.py
simulation-pendulum.py
sincos.cpp
sincos.hpp
skew.hpp
spatial-axis.hpp
casadi/spatial.cpp
cppad/spatial.cpp
spatial.cpp
spatial.hpp
special-euclidean.hpp
special-orthogonal.hpp
bindings/python/parsers/srdf.cpp
unittest/srdf.cpp
bindings/python/parsers/srdf.hpp
parsers/srdf.hpp
static-buffer.hpp
static-contact-dynamics.py
autodiff/casadi/utils/static-if.hpp
autodiff/cppad/utils/static-if.hpp
utils/static-if.hpp
std-aligned-vector.hpp
std-map.hpp
std-vector.hpp
string-generator.hpp
string.hpp
symmetric.cpp
bindings/python/spatial/symmetric3.hpp
serialization/symmetric3.hpp
spatial/symmetric3.hpp
talos-simulation.py
taylor-expansion.hpp
tensor.hpp
test-cpp2pybind11.py
test_case.py
test_load.py
timer.hpp
timer2.hpp
timings-cg.cpp
timings-cholesky.cpp
timings-constrained-dynamics-derivatives.cpp
timings-contact-dynamics.cpp
timings-cppad-jit.cpp
timings-delassus-operations.cpp
timings-derivatives.cpp
timings-eigen.cpp
timings-geometry.cpp
timings-impulse-dynamics-derivatives.cpp
timings-impulse-dynamics.cpp
timings-jacobian.cpp
timings-parallel.cpp
timings.cpp
transform.hpp
bindings/python/collision/tree-broadphase-manager.hpp
collision/tree-broadphase-manager.hpp
tree-broadphase.cpp
autodiff/casadi/math/triangular-matrix.hpp
math/triangular-matrix.hpp
tridiagonal-matrix.cpp
bindings/python/math/tridiagonal-matrix.hpp
math/tridiagonal-matrix.hpp
types.hpp
unary-op.hpp
unsupported.hpp
update-model-after-urdf.py
ur5x4.py
urdf.cpp
bindings/python/parsers/urdf.hpp
parsers/urdf.hpp
utils.cpp
urdf/utils.hpp
utils.hpp
bindings/python/pinocchio/utils.py
unittest/python/utils.py
value.cpp
vector-space.hpp
vector.cpp
vector.hpp
bindings/python/utils/version.cpp
unittest/version.cpp
bindings/python/utils/version.hpp
utils/version.hpp
version.py
visitor.cpp
visitor.hpp
visualizers.py
windows_dll_manager.py
xm.py