@@ -13,6 +13,25 @@ It is built upon Eigen for linear algebra and FCL for collision detection. **Pin
**Pinocchio** is now at the hearth of various robotics softwares as the [Stack-of-Tasks](http://stack-of-tasks.github.io) or the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc).
## Pinocchio features
**Pinocchio** is fast:
- C++ template library,
- cache friendly,
- automatic code generation support.
**Pinocchio** implements rigid body dynamics algorithms:
- forward kinematics and its analytical derivatives
- forward and inverse dynamics,
- analytical derivatives of forward and inverse dynamics,
- centroidal dynamics.
**Pinocchio** is multi-thread friendly.
**Pinocchio** is reliable and extensively tested (unit-tests, simulations and real robotics applications).
**Pinocchio** is cross-platform.
## 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).
