iDynFor

iDynFor is a C++ library thas provides a compatibility layer between iDynTree and pinocchio multi-body dynamics libraries. In a nutshell, iDynFor provides you with classes that expose the same methods of iDynTree::KinDynComputations, but using pinocchio for the actual implementation.

The library implemented in this repository is still experimental and API and ABI can change at every patch release.

Theory

For all the theorical details on the relation between the formalism used in iDynTree/iDynFor and the one used in pinocchio, check the iDynFor theory documentation.

Dependencies

The C++ dependencies required by idynfor are:

• iDynTree
• pinocchio

Install dependencies with conda-forge

mamba create -n idynfordev cmake compilers make ninja pkg-config idyntree pinocchio catch2 eigenpy

Then, execute all the other commands after activating the environment:

mamba activate idynfordev

⚒️ Build the library

You can build the library coping and paste the following snippet into a terminal

git clone https://github.com/ami-iit/idynfor
cd idynfor
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<install_prefix> ..
cmake --build .
[sudo] cmake --install .

🐛 Bug reports and support

All types of issues are welcome.

📝 License

Materials in this repository are distributed under the following license:

All software is licensed under the BSD 3-Clause "New" or "Revised" License. See LICENSE file for details.