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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.82k stars 382 forks source link

Feature proposal: Batch Computation of FK, Jacobian ... #1529

Closed robotgradient closed 3 years ago

robotgradient commented 3 years ago

Hello,

I was wondering if Pinocchio provides the option of batch computation of the robot kinematics and dynamics. In sample based optimization problems, it might be interesting to evaluate multiple possible robot configurations in batch.

Is this property already implemented? In case is not; are there future plans of adding batch computation properties? I guess it could be done by modifying the data variable to a list of data variables.

Best regards, -Julen

jcarpent commented 3 years ago

Yes, we have this support for some algos. The principles have been implemented with the notion of ModelPool (https://github.com/stack-of-tasks/pinocchio/blob/master/src/multibody/pool/model.hpp). Please see here for further details: https://github.com/stack-of-tasks/pinocchio/tree/master/src/algorithm/parallel

I did not have time to parallelized the evaluation for all the algorithms, but this is not too hard to extend.

robotgradient commented 3 years ago

Thanks alot! :)

jcarpent commented 3 years ago

If you think a signature is missing, do not hesitate to provide it with a PR.