Commit 14256ddc authored by Anthony Mallet's avatar Anthony Mallet
Browse files

[math/pinocchio] Import pinochio-2.7.1r1 (from wip/)

Pinocchio is a C++ library for dynamic computations focusing on robotic,
computer animation and biomechanical applications. It is based on the dynamic
multi-body computations formalized by Featherstone in his book.
The software comes with a python wrapping and vizualisation tool, available
separately in the py-pinocchio package.
parent 072b08b2
......@@ -20,6 +20,7 @@ SUBDIR+= lapack
SUBDIR+= libccd
SUBDIR+= liblbfgs
SUBDIR+= meschach
SUBDIR+= pinocchio
SUBDIR+= py-eigenpy
SUBDIR+= ros-angles
SUBDIR+= ros-eigen-stl-containers
......
Pinocchio is a C++ library for dynamic computations focusing on robotic,
computer animation and biomechanical applications. It is based on the dynamic
multi-body computations formalized by Featherstone in his book.
The software comes with a python wrapping and vizualisation tool, available
separately in the py-pinocchio package.
The following algorithms are implemented.
* Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics)
* Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix)
* Sparse Cholsky decomposition of the inertia matrix (for constrained
forward-dynamics resolution)
* Placement Jacobians (i.e application from configuration velocities to
end-effector spatial velocities), along with computation of body placements,
velocities and accelerations.
* Center of mass and its Jacobian
The model can be parsed from a URDF format. The following joint models are
implemented.
* Revolute X, Y, Z (optimized) and unaligned with Cartesian directions
* Prismatic X, Y, Z
* Sperical (quaternion representation)
* Free (i.e. no constraint, for mobile robots like humanoids -- using
quaternion representation for the rotation)
# robotpkg Makefile for: math/pinocchio
# Created: Olivier Stasse on Thu, 4 Feb 2016
#
PKGREVISION= 1
VERSION= 1.2.7
DISTNAME= pinocchio-${VERSION}
MASTER_SITES=\
${MASTER_SITE_BASE:=${PKGBASE}/releases/download/v${VERSION}/}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/${PKGBASE}
CHECKOUT_VCS_OPTS= --recursive
CATEGORIES= math
COMMENT= Efficient rigid body dynamics
HOMEPAGE= http://stack-of-tasks.github.io/pinocchio/
MAINTAINER= gepetto@laas.fr
LICENSE= gnu-lgpl-v3
CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
CMAKE_ARGS+= -DBUILD_BENCHMARK=OFF
CMAKE_ARGS+= -DBUILD_UNIT_TESTS=OFF
CMAKE_ARGS+= -DBUILD_UTILS=OFF
CMAKE_ARGS+= -DBUILD_TESTS_WITH_HPP=OFF
CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
USE_BOOST_LIBS= system filesystem
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../graphics/urdfdom/depend.mk
include ../../math/eigen3/depend.mk
include ../../path/hpp-fcl/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
DEPEND_ABI.urdfdom += urdfdom>=0.2.3
include ../../mk/robotpkg.mk
@comment Thu Apr 26 14:36:40 CEST 2018
include/pinocchio/algorithm/aba.hpp
include/pinocchio/algorithm/aba.hxx
include/pinocchio/algorithm/center-of-mass.hpp
include/pinocchio/algorithm/center-of-mass.hxx
include/pinocchio/algorithm/check.hpp
include/pinocchio/algorithm/check.hxx
include/pinocchio/algorithm/cholesky.hpp
include/pinocchio/algorithm/cholesky.hxx
include/pinocchio/algorithm/compute-all-terms.hpp
include/pinocchio/algorithm/copy.hpp
include/pinocchio/algorithm/crba.hpp
include/pinocchio/algorithm/crba.hxx
include/pinocchio/algorithm/default-check.hpp
include/pinocchio/algorithm/dynamics.hpp
include/pinocchio/algorithm/energy.hpp
include/pinocchio/algorithm/finite-differences.hpp
include/pinocchio/algorithm/finite-differences.hxx
include/pinocchio/algorithm/frames.hpp
include/pinocchio/algorithm/frames.hxx
include/pinocchio/algorithm/geometry.hpp
include/pinocchio/algorithm/geometry.hxx
include/pinocchio/algorithm/jacobian.hpp
include/pinocchio/algorithm/jacobian.hxx
include/pinocchio/algorithm/joint-configuration.hpp
include/pinocchio/algorithm/joint-configuration.hxx
include/pinocchio/algorithm/kinematics.hpp
include/pinocchio/algorithm/kinematics.hxx
include/pinocchio/algorithm/regressor.hpp
include/pinocchio/algorithm/regressor.hxx
include/pinocchio/algorithm/rnea.hpp
include/pinocchio/algorithm/rnea.hxx
include/pinocchio/assert.hpp
include/pinocchio/config.hh
include/pinocchio/container/aligned-vector.hpp
include/pinocchio/deprecated.hh
include/pinocchio/exception.hpp
include/pinocchio/macros.hpp
include/pinocchio/math/fwd.hpp
include/pinocchio/math/matrix.hpp
include/pinocchio/math/quaternion.hpp
include/pinocchio/math/sincos.hpp
include/pinocchio/multibody/constraint.hpp
include/pinocchio/multibody/fcl.hpp
include/pinocchio/multibody/fcl.hxx
include/pinocchio/multibody/force-set.hpp
include/pinocchio/multibody/frame.hpp
include/pinocchio/multibody/fwd.hpp
include/pinocchio/multibody/geometry.hpp
include/pinocchio/multibody/geometry.hxx
include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-base.hpp
include/pinocchio/multibody/joint/joint-basic-visitors.hpp
include/pinocchio/multibody/joint/joint-basic-visitors.hxx
include/pinocchio/multibody/joint/joint-composite.hpp
include/pinocchio/multibody/joint/joint-free-flyer.hpp
include/pinocchio/multibody/joint/joint-planar.hpp
include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
include/pinocchio/multibody/joint/joint-prismatic.hpp
include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
include/pinocchio/multibody/joint/joint-revolute.hpp
include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
include/pinocchio/multibody/joint/joint-spherical.hpp
include/pinocchio/multibody/joint/joint-translation.hpp
include/pinocchio/multibody/joint/joint-variant.hpp
include/pinocchio/multibody/joint/joint.hpp
include/pinocchio/multibody/liegroup/cartesian-product.hpp
include/pinocchio/multibody/liegroup/liegroup.hpp
include/pinocchio/multibody/liegroup/operation-base.hpp
include/pinocchio/multibody/liegroup/operation-base.hxx
include/pinocchio/multibody/liegroup/special-euclidean.hpp
include/pinocchio/multibody/liegroup/special-orthogonal.hpp
include/pinocchio/multibody/liegroup/vector-space.hpp
include/pinocchio/multibody/model.hpp
include/pinocchio/multibody/model.hxx
include/pinocchio/multibody/visitor.hpp
include/pinocchio/parsers/sample-models.hpp
include/pinocchio/parsers/srdf.hpp
include/pinocchio/parsers/urdf.hpp
include/pinocchio/parsers/urdf/types.hpp
include/pinocchio/parsers/urdf/utils.hpp
include/pinocchio/parsers/utils.hpp
include/pinocchio/spatial/act-on-set.hpp
include/pinocchio/spatial/explog.hpp
include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
include/pinocchio/spatial/force.hpp
include/pinocchio/spatial/fwd.hpp
include/pinocchio/spatial/inertia.hpp
include/pinocchio/spatial/motion.hpp
include/pinocchio/spatial/se3.hpp
include/pinocchio/spatial/skew.hpp
include/pinocchio/spatial/symmetric3.hpp
include/pinocchio/tools/file-explorer.hpp
include/pinocchio/tools/string-generator.hpp
include/pinocchio/tools/timer.hpp
include/pinocchio/warning.hh
lib/libpinocchio.so
lib/pkgconfig/pinocchio.pc
# robotpkg depend.mk for: math/pinocchio
# Created: Olivier Stasse on Thu, 4 Feb 2016
#
DEPEND_DEPTH:= ${DEPEND_DEPTH}+
PINOCCHIO_DEPEND_MK:= ${PINOCCHIO_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
DEPEND_PKG+= pinocchio
endif
ifeq (+,$(PINOCCHIO_DEPEND_MK)) # ------------------------------------------
PREFER.pinocchio?= robotpkg
SYSTEM_SEARCH.pinocchio=\
'include/pinocchio/config.hh:/PINOCCHIO_VERSION/s/[^0-9.]//gp' \
'lib/libpinocchio.so' \
'lib/pkgconfig/pinocchio.pc:/Version/s/[^0-9.]//gp'
DEPEND_USE+= pinocchio
DEPEND_ABI.pinocchio?= pinocchio>=1.1.2
DEPEND_DIR.pinocchio?= ../../math/pinocchio
endif # PINOCCHIO_DEPEND_MK ------------------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
# pulled by the package public headers
include ../../graphics/urdfdom/depend.mk
include ../../math/eigen3/depend.mk
include ../../path/hpp-fcl/depend.mk
SHA1 (pinocchio-1.2.7.tar.gz) = e2c50e69305d7754206d9ad4540614843721e67e
RMD160 (pinocchio-1.2.7.tar.gz) = 1120de4931067c607284e470474dd059fbcca1b7
Size (pinocchio-1.2.7.tar.gz) = 9030977 bytes
SHA1 (patch-aa) = d44e6db8e6b403d87cebdafc41dede56090c9c99
Enforce consistency with robotpkg list of dependencies
--- CMakeLists.txt~ 2018-04-02 18:17:57.000000000 +0200
+++ CMakeLists.txt 2018-04-26 14:23:48.596052980 +0200
@@ -77,9 +77,8 @@
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
-ADD_OPTIONAL_DEPENDENCY("metapod >= 1.0.7")
-ADD_OPTIONAL_DEPENDENCY("urdfdom >= 0.2.0")
-ADD_OPTIONAL_DEPENDENCY("hpp-fcl >= 0.5.1")
+ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.0")
+ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 0.5.1")
# Spetcial care of Eigen3 greater than 3.2.10
IF(EIGEN3_FOUND)
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