.. pinocchio documentation master file, created by
   sphinx-quickstart on Thu Mar 31 17:16:13 2022.
   You can adapt this file completely to your liking, but it should at least
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Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations
==============================================================================

.. image:: https://raw.githubusercontent.com/stack-of-tasks/pinocchio/master/doc/images/pinocchio-logo-large.png

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**Pinocchio** instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms.
Besides, **Pinocchio** provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.

**Pinocchio** is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.).
It is built upon Eigen for linear algebra and FCL for collision detection. **Pinocchio** comes with a Python interface for fast code prototyping.

.. Note::

   Beware that this only the python documentation. You can find the C++ documentation `here <https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/>`_

.. toctree::
   :maxdepth: 2
   :caption: Table of Contents

   template/pinocchio