Unverified Commit 04195229 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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Merge pull request #948 from jcarpent/devel

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Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations
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<img src="./doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/>
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**Pinocchio** instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms.
Besides, **Pinocchio** provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.
......@@ -32,17 +38,26 @@ If you want to learn more on **Pinocchio** internal behaviors and main features,
- forward kinematics and its analytical derivatives,
- forward/inverse dynamics and their analytical derivatives,
- centroidal dynamics and its analytical derivatives,
- and much more with the support of Automatic Differentiation with [CppAD](https://github.com/coin-or/CppAD) or [CASADI](https://web.casadi.org/).
- and much more with the support of modern Automatic Differentiation frameworks like [CppAD](https://github.com/coin-or/CppAD) or [CasADi](https://web.casadi.org/).
**Pinocchio** is flexible:
- header only,
- C++ 98/03/11/14/17/20 compliant.
**Pinocchio** is extensible.
**Pinocchio** is multi-thread friendly.
**Pinocchio** is reliable and extensively tested (unit-tests, simulations and real robotics applications).
**Pinocchio** is supported on Mac OS X and many Linux distributions ([see build status here](http://robotpkg.openrobots.org/rbulk/robotpkg/math/pinocchio/index.html)).
## Performances
**Pinocchio** exploits at best the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** is able to unroll most of the computations, allowing to achieve impressive performances for a large range of robots, as illustrated by the plot below, whose figures were obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.
<p align="center">
<img src="./doc/images/pinocchio-performances.png" width="600" alt="Pinocchio Logo" align="center"/>
</p>
## Ongoing developments
If you want to follow the current developments, you can directly refer to the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel).
......@@ -53,7 +68,7 @@ If you want to follow the current developments, you can directly refer to the [d
If you only need the Python bindings of Pinocchio, you may prefer to install it through [Conda](https://docs.conda.io/en/latest/). Please follow the procedure described [here](https://github.com/conda-forge/pinocchio-feedstock#installing-pinocchio).
**Pinocchio** is also being deployed on ROS, you may follow its deployment status on [Melodic](https://index.ros.org/r/pinocchio/#melodic) or [Kinetic](https://index.ros.org/r/pinocchio/#kinetic).
**Pinocchio** is also deployed on ROS, you may follow its deployment status on [Melodic](https://index.ros.org/r/pinocchio/#melodic) or [Kinetic](https://index.ros.org/r/pinocchio/#kinetic).
## Documentation
......@@ -66,8 +81,8 @@ Additional examples introducing **Pinocchio** are also available in the [documen
## Tutorials
**Pinocchio** is coming with a large bunch of tutorials aiming at introducing the basic tools for robotics control.
The content of the tutorials are described [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_1-directgeom.html).
**Pinocchio** comes with a large bunch of tutorials aiming at introducing the basic tools for robotics control.
The content of the tutorials is described [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_1-directgeom.html).
## Citing Pinocchio
......@@ -106,7 +121,7 @@ You have a question or an issue? You may either directly open a [new issue](http
## Credits
The following people have been involved in the development of **Pinocchio**:
The following people have been involved in the development of **Pinocchio** and are warmly thanked for their contributions:
- [Justin Carpentier](https://jcarpent.github.io) (INRIA): main developer and manager of the project
- [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): project instructor
......@@ -119,8 +134,8 @@ The following people have been involved in the development of **Pinocchio**:
- [Rohan Budhiraja](https://scholar.google.com/citations?user=NW9Io9AAAAAJ) (LAAS-CNRS): features extension
- [Loïc Estève](https://github.com/lesteve) (INRIA): Conda integration and support
If you have taken part to the development of **Pinocchio**, feel free to add your name and contribution here.
If you have taken part to the development of **Pinocchio**, feel free to add your name and contribution in this list.
## Acknowledgments
The development of **Pinocchio** is supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr) and the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr).
The development of **Pinocchio** is actively supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr) and the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr).
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