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I have done some work on the integration of TOPPRA inside my packages using the C++ API. I have some first results. To go further, I would like to:
- validate that the C++ and Python implementation a…
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In GitLab by @proyan on Feb 12, 2019, 10:20
Currently there is a bug in the pinocchio calculation of derivatives, where kinematics derivatives are not updated when doing RNEA derivatives (https://git…
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Dear Pinocchio Authors,
I am using Pinocchio's RNEA inverse dynamics computation in a real-time control loop at 1000 Hz, which means 1ms control window. However, I measured the RNEA computation tim…
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We will use this issue to flesh out some key designs of the C++ interface.
There are a few core components that are required.
- [x] Trajectory representation;
- [x] Constraint representation;
- …
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Hi all,
I hope to fin you all good and thank you very much for your work on this very nice library.
We have a question regarding the computation of "Classical" (not Spatial) velocity of a frame…
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There is memory allocation when we pass `fext`. To be efficient, I created the following code where you can check this issue:
```cpp
#define EIGEN_RUNTIME_NO_MALLOC
#include "pinocchio/multibod…
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In GitLab by @wxmerkt on Oct 12, 2019, 16:08
Last night's merge request (!245) broke the bindings for shared pointers. Running the quadrupedal gait example with a callback (`INPUT='plot'`) throws:
`…
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Currently, safety checks like checking the length of the array or verifying that the `Data` object is consistent with the `Model` are only done through asserts, i.e. only in debug mode.
This leaves…
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In GitLab by @cmastalli on Aug 1, 2019, 15:37
_Merges topic/cpp-free-fwddyn -> cpp_devel_
This PR mainly adds the free forward dynamics used for the talos_arm example. Addtionally, it adds a method …
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In GitLab by @jmarti on Nov 8, 2019, 07:48
_Merges DifferentialActionModelFreeFwdDynamics_overloaded -> devel_
*Current behavior*:
The DAMFreeFwdDynamics (DAMFFD) assumes that the actuation model i…