pinocchio

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[Spatial.9] Suffix all CRTP method implementation by _impl ...

3

I think it is a good strategy to avoid infinite loop and decrease debugging time. I would also suggest to set all those methods protected to force the user to...

jcarpent

[spatial.2] operator internal naming

2

Change the name of operators. C++ operators are only trivial inline methods, while the code is in methods with an ad-hoc name. The name was yet taken from Python standards...

nmansard

[Spatial.6] Computation tree

2

Introduce a computation tree, i.e. when an operation A = B+C+D is interpreted, first build a trivial object representing the tree of computation (in the example something like OpPlus< B,...

nmansard

[Spatial.7] InertiaBase is too much biased toward the typical mass-com-inertia implementation (InertiaTpl) ...

5

`InertiaDense' is mostly used inside the ABA algorithm. It can be represented with different memory representation: - Symmetric 6x6 matrix. Which takes 36 doubles in memory and are not really...

jcarpent

Joint model lack of documentation

5

1D joints are simple to understand in terms of relationship between the degrees of freedom and the joint transform and velocity. This is however not the case for more complex...

aelkhour

Hi Justin and other Pinocchio Developers First of all, thank you for the excellent library you guys created and your constant support. My Ph.D. research wouldn't have been possible without...

shubhamsingh91

Next PyPI release

1

This issue is to keep track of the next PyPI release :pray: Presently PyPI is still at 2.6.4 while Pinocchio is at 2.6.9. More recent versions ship features and fixes...

stephane-caron

ROS2 Humble Release

2

The pinocchio humble release PR has been merged into rosdistro, however the build is failing as described [here](https://discourse.ros.org/t/humble-pinoccio-package-missing-from-latest-sync/27288). Is there any ongoing work to get this fix?

Benjamin-Tan

pin.constraintDynamics and data.lambda_c

2

Hello! I would like to thank you and your team for the Pinocchio library. I used Pinocchio 2.99.0 from this conda package: [package](https://anaconda.org/olivier.roussel/pinocchio) I have a model with closed kinematic...

MR-KNV

Calculation issue of `getFrameJacobianTimeVariation`

2

## Bug description I finded that the method `getFrameJacobianTimeVariation` will return a wrong $\dot{J}_c$ and get a $a_c$ which was different from the result of `getFrameClassicalAcceleration`. We need to use...

matheecs