Commit 96d3ed64 authored by Justin Carpentier's avatar Justin Carpentier

readme: add performances of Pinocchio

parent bc7ff062
<p align="center">
<img src="./doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/>
<img src="./doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/>
</p>
<p align="center">
......@@ -38,17 +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 paradigmes, **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.
<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).
......
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