pinocchio: overview-simple.py Source File

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 import pinocchio
  
 model = pinocchio.buildSampleModelManipulator()
 data = model.createData()
  
 q = pinocchio.neutral(model)
 v = pinocchio.utils.zero(model.nv)
 a = pinocchio.utils.zero(model.nv)
  
 tau = pinocchio.rnea(model, data, q, v, a)
 print("tau = ", tau.T)

pinocchio::rnea

const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & rnea(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const container::aligned_vector< ForceDerived > &fext)

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques accordi...

pinocchio::neutral

Eigen::Matrix< typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options > neutral(const LieGroupGenericTpl< LieGroupCollection > &lg)

Visit a LieGroupVariant to get the neutral element of it.