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Changelog
Unreleased
3.4.0 - 2025-02-12
3.3.1 - 2024-12-13
3.3.0 - 2024-11-06
3.2.0 - 2024-08-27
3.1.0 - 2024-07-04
3.0.0 - 2024-05-27
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
README
Table of contents
Introducing Pinocchio 3
Pinocchio main features
Documentation
Examples
Tutorials
Pinocchio continuous integrations
Performances
Ongoing developments
Installation
Conda
ROS
Visualization
Citing Pinocchio
Citing specific algorithmic contributions
Questions and Issues
Credits
Open-source projects relying on Pinocchio
Acknowledgments
Documentation
Overview {#index}
Porting from Pinocchio 2 to 3
Porting from Pinocchio 1.3.3 to 2.0.0
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
a-features/
From joints to Lie-group geometry
Using \( SE(2) \) with pinocchio in C++
Using \f$ SE(3) \f$ with pinocchio in C++
Using interpolation to plot a trajectory with pinocchio in C++
Forward kinematics
Kinematic Jacobian
Inverse dynamics
Joint-space inertia matrix
Forward dynamics
Additional algorithms
c-maths/
Rigid Bodies
Joint dynamics
Mathematical formulation
CheatSheet: SE(3) operations
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
Index
pinocchio
C++ API
Class CsvStream
View page source
Class CsvStream
Defined in
File file-io.hpp
Class Documentation
class
CsvStream
Public Functions
inline
CsvStream
(
const
std
::
string
filename
,
const
std
::
string
separator
=
","
)
inline
~CsvStream
(
)
inline
void
flush
(
)
inline
void
endrow
(
)
inline
CsvStream
&
operator
<<
(
CsvStream
&
(
*
val
)
(
CsvStream
&
)
)
inline
CsvStream
&
operator
<<
(
const
char
*
val
)
inline
CsvStream
&
operator
<<
(
const
std
::
string
&
val
)
template
<
typename
T
>
inline
CsvStream
&
operator
<<
(
const
T
&
val
)
Public Static Functions
static
inline
CsvStream
&
endl
(
CsvStream
&
file
)