pinocchio
Table of Contents
API Documentation
pinocchio
Index
Index
A
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B
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C
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D
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E
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F
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G
|
H
|
I
|
J
|
K
|
L
|
M
|
N
|
O
|
P
|
R
|
S
|
T
|
U
|
V
A
aba() (in module Dynamics)
aba() (in module Dynamics)
absolute_accuracy (ProximalSettings property)
absolute_residual (ProximalSettings property)
addAllCollisionPairs() (GeometryModel method)
addBodyFrame() (Model method)
addCollisionPair() (GeometryModel method)
addFrame() (Model method)
addGeometryObject() (MeshcatVisualizer method)
addGeometryObject() (GeometryModel method)
addGeometryObject() (GeometryModel method)
addJoint() (Model method)
addJoint() (Model method)
addJoint() (Model method)
addJointFrame() (Model method)
appendBodyToJoint() (Model method)
appendModel() (in module Model)
appendModel() (in module Model)
armature (Model property)
B
BaseVisualizer (class in pinocchio.visualize)
BaumgarteCorrectorParameters (class in Contact)
bodyRegressor() (in module Regressor)
BroadPhaseManager_DynamicAABBTreeArrayCollisionManager (class in Collision)
BroadPhaseManager_DynamicAABBTreeCollisionManager (class in Collision)
BroadPhaseManager_IntervalTreeCollisionManager (class in Collision)
BroadPhaseManager_NaiveCollisionManager (class in Collision)
BroadPhaseManager_SaPCollisionManager (class in Collision)
BroadPhaseManager_SSaPCollisionManager (class in Collision)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf0() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromSdf() (in module sdf)
buildGeomFromUrdf() (in module urdf)
buildGeomFromUrdfString() (in module urdf)
buildModelFromSdf() (in module sdf)
buildModelFromSdf() (in module sdf)
buildModelFromUrdf() (in module urdf)
buildModelFromUrdf() (in module urdf)
buildModelFromUrdf() (in module urdf)
buildModelFromUrdf() (in module urdf)
buildModelFromXML() (in module urdf)
buildModelFromXML() (in module urdf)
buildModelFromXML() (in module urdf)
buildModelFromXML() (in module urdf)
buildReducedModel() (in module Model)
buildReducedModel() (in module Model)
buildReducedModel() (in module Model)
C
c1Mc2 (RigidConstraintData property)
captureImage() (BaseVisualizer method)
(MeshcatVisualizer method)
cast() (BaumgarteCorrectorParameters method)
(Frame method)
(Model method)
(RigidConstraintModel method)
ccrba() (in module Centroidal)
centerOfMass() (in module Mass)
centerOfMass() (in module Mass)
centerOfMass() (in module Mass)
centerOfMass() (in module Mass)
centerOfMass() (in module Mass)
centerOfMass() (in module Mass)
Centroidal
module
check() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
(Model method)
check() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
children (Model property)
cholesky() (DelassusCholeskyExpression method)
clean() (BaseVisualizer method)
(MeshcatVisualizer method)
(RVizVisualizer method)
clone() (GeometryModel method)
(GeometryObject method)
collide() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
collide() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
collide() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
Collision
module
collisionPairMapping (GeometryModel property)
collisionPairs (GeometryModel property)
cols() (DelassusCholeskyExpression method)
colwise_joint1_sparsity (RigidConstraintModel property)
colwise_joint2_sparsity (RigidConstraintModel property)
colwise_span_indexes (RigidConstraintModel property)
compute() (ContactCholeskyDecomposition method)
compute() (ContactCholeskyDecomposition method)
computeABADerivatives() (in module Dynamics)
computeABADerivatives() (in module Dynamics)
computeABADerivatives() (in module Dynamics)
computeABADerivatives() (in module Dynamics)
computeAllTerms() (in module General)
computeBodyRadius() (in module Collision)
computeCentroidalDynamicsDerivatives() (in module Centroidal)
computeCentroidalMap() (in module Centroidal)
computeCentroidalMapTimeVariation() (in module Centroidal)
computeCentroidalMomentum() (in module Centroidal)
computeCentroidalMomentum() (in module Centroidal)
computeCentroidalMomentumTimeVariation() (in module Centroidal)
computeCentroidalMomentumTimeVariation() (in module Centroidal)
computeConstraintDynamicsDerivatives() (in module Contact)
computeCoriolisMatrix() (in module Dynamics)
computeDampedDelassusMatrixInverse() (in module Contact)
computeDelassusMatrix() (in module Contact)
computeDistance() (in module Collision)
computeDistances() (in module Collision)
computeDistances() (in module Collision)
computeForwardKinematicsDerivatives() (in module Kinematics)
computeFrameJacobian() (in module Frame)
computeFrameJacobian() (in module Frame)
computeFrameKinematicRegressor() (in module Regressor)
computeGeneralizedGravity() (in module Dynamics)
computeGeneralizedGravityDerivatives() (in module Dynamics)
computeImpulseDynamicsDerivatives() (in module Contact)
computeJointJacobian() (in module Jacobian)
computeJointJacobians() (in module Jacobian)
computeJointJacobians() (in module Jacobian)
computeJointJacobiansTimeVariation() (in module Jacobian)
computeJointKinematicRegressor() (in module Regressor)
computeJointKinematicRegressor() (in module Regressor)
computeJointTorqueRegressor() (in module Regressor)
computeKineticEnergy() (in module Energy)
computeKineticEnergy() (in module Energy)
computeKKTContactDynamicMatrixInverse() (in module Contact)
computeLargestEigenValue() (DelassusCholeskyExpression method)
computeMechanicalEnergy() (in module Energy)
computeMechanicalEnergy() (in module Energy)
computeMinv() (in module pinocchio.cholesky)
computeMinverse() (in module Dynamics)
computeMinverse() (in module Dynamics)
computePotentialEnergy() (in module Energy)
computePotentialEnergy() (in module Energy)
computeRNEADerivatives() (in module Dynamics)
computeRNEADerivatives() (in module Dynamics)
computeStaticRegressor() (in module Regressor)
computeStaticTorque() (in module Dynamics)
computeStaticTorqueDerivatives() (in module Dynamics)
computeSubtreeMasses() (in module Mass)
computeSupportedForceByFrame() (in module Frame)
computeSupportedInertiaByFrame() (in module Frame)
computeTotalMass() (in module Mass)
computeTotalMass() (in module Mass)
constraintDim() (ContactCholeskyDecomposition method)
constraintDynamics() (in module Contact)
Contact
module
contact1_acceleration_drift (RigidConstraintData property)
contact1_velocity (RigidConstraintData property)
contact2_acceleration_drift (RigidConstraintData property)
contact2_velocity (RigidConstraintData property)
contact_acceleration (RigidConstraintData property)
contact_acceleration_desired (RigidConstraintData property)
contact_acceleration_deviation (RigidConstraintData property)
contact_acceleration_error (RigidConstraintData property)
contact_force (RigidConstraintData property)
contact_placement_error (RigidConstraintData property)
contact_velocity_error (RigidConstraintData property)
ContactCholeskyDecomposition (class in Contact)
ContactSolvers
module
copy() (Frame method)
(GeometryModel method)
(GeometryObject method)
(Model method)
corrector (RigidConstraintModel property)
create_video_ctx() (BaseVisualizer method)
CreateCapsule() (GeometryObject method)
createData() (GeometryModel method)
(Model method)
(RigidConstraintModel method)
D
damping (Model property)
dccrba() (in module Centroidal)
decompose() (in module pinocchio.cholesky)
DelassusCholeskyExpression (class in Contact)
desired_contact_acceleration (RigidConstraintModel property)
desired_contact_placement (RigidConstraintModel property)
desired_contact_velocity (RigidConstraintModel property)
disableCollision (GeometryObject property)
display() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
(RVizVisualizer method)
displayCollisions() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
(RVizVisualizer method)
displayVisuals() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
(RVizVisualizer method)
drawFrameVelocities() (BaseVisualizer method)
(MeshcatVisualizer method)
Dynamics
module
E
effortLimit (Model property)
Energy
module
existBodyName() (Model method)
existCollisionPair() (GeometryModel method)
existFrame() (Model method)
existGeometryName() (GeometryModel method)
existJointName() (Model method)
extended_motion_propagators_joint1 (RigidConstraintData property)
extended_motion_propagators_joint2 (RigidConstraintData property)
F
findCollisionPair() (GeometryModel method)
findCommonAncestor() (in module Model)
forwardDynamics() (in module Contact)
forwardDynamics() (in module Contact)
forwardKinematics() (in module Kinematics)
forwardKinematics() (in module Kinematics)
forwardKinematics() (in module Kinematics)
Frame
module
Frame (class in Frame)
frameBodyRegressor() (in module Regressor)
frameJacobianTimeVariation() (in module Frame)
frames (Model property)
framesForwardKinematics() (in module Frame)
friction (Model property)
G
General
module
geometry (GeometryObject property)
GeometryModel (class in Model)
GeometryObject (class in Collision)
geometryObjects (GeometryModel property)
GepettoVisualizer (class in pinocchio.visualize)
getAbsoluteConvergenceResidual() (PGSSolver method)
getAbsolutePrecision() (PGSSolver method)
getAcceleration() (in module Kinematics)
getBodyId() (Model method)
getCenterOfMassVelocityDerivatives() (in module Kinematics)
getCentroidalDynamicsDerivatives() (in module Centroidal)
getClassicalAcceleration() (in module Kinematics)
getCollisionObjectInflation() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getCollisionObjects() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getCollisionObjectStatus() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getConstraintJacobian() (in module Contact)
getConstraintsJacobian() (in module Contact)
getConstraintSparsityPattern() (ContactCholeskyDecomposition method)
getCoriolisMatrix() (in module Dynamics)
getDelassusCholeskyExpression() (ContactCholeskyDecomposition method)
getFrameAcceleration() (in module Frame)
getFrameAcceleration() (in module Frame)
getFrameAccelerationDerivatives() (in module Frame)
getFrameAccelerationDerivatives() (in module Frame)
getFrameClassicalAcceleration() (in module Frame)
getFrameClassicalAcceleration() (in module Frame)
getFrameId() (Model method)
getFrameJacobian() (in module Frame)
getFrameJacobian() (in module Frame)
getFrameJacobianTimeVariation() (in module Frame)
getFrameVelocity() (in module Frame)
getFrameVelocity() (in module Frame)
getFrameVelocityDerivatives() (in module Frame)
getFrameVelocityDerivatives() (in module Frame)
getGeometryData() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getGeometryId() (GeometryModel method)
getGeometryModel() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getInverseMassMatrix() (ContactCholeskyDecomposition method)
getInverseOperationalSpaceInertiaMatrix() (ContactCholeskyDecomposition method)
getIterationCount() (PGSSolver method)
getJacobianSubtreeCenterOfMass() (in module Mass)
getJoint1SparsityPattern() (ContactCholeskyDecomposition method)
getJoint2SparsityPattern() (ContactCholeskyDecomposition method)
getJointAccelerationDerivatives() (in module Kinematics)
getJointId() (Model method)
getJointJacobian() (in module Jacobian)
getJointJacobianTimeVariation() (in module Jacobian)
getJointVelocityDerivatives() (in module Kinematics)
getKKTContactDynamicMatrixInverse() (in module Contact)
getLoopSparsityPattern() (ContactCholeskyDecomposition method)
getManager() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getMassMatrixChoeslkyDecomposition() (ContactCholeskyDecomposition method)
getMaxIterations() (PGSSolver method)
getModel() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
getOperationalSpaceInertiaMatrix() (ContactCholeskyDecomposition method)
getPointClassicAccelerationDerivatives() (in module Kinematics)
getPointVelocityDerivatives() (in module Kinematics)
getRelativeConvergenceResidual() (PGSSolver method)
getRelativePrecision() (PGSSolver method)
getVelocity() (in module Kinematics)
getViewerNodeName() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
gravity (Model property)
H
hasConfigurationLimit() (Model method)
hasConfigurationLimitInTangent() (Model method)
I
idx_qs (Model property)
idx_vs (Model property)
impulseDynamics() (in module Contact)
impulseDynamics() (in module Contact)
impulseDynamics() (in module Contact)
inertia (Frame property)
inertias (Model property)
initConstraintDynamics() (in module Contact)
initViewer() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
(RVizVisualizer method)
inverse() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
iter (ProximalSettings property)
J
Jacobian
module
jacobianCenterOfMass() (in module Mass)
jacobianCenterOfMass() (in module Mass)
jacobianSubtreeCenterOfMass() (in module Mass)
jacobianSubtreeCenterOfMass() (in module Mass)
jacobianSubtreeCoMJacobian() (in module Mass)
jacobianSubtreeCoMJacobian() (in module Mass)
joint1_id (RigidConstraintModel property)
joint1_placement (RigidConstraintModel property)
joint2_id (RigidConstraintModel property)
joint2_placement (RigidConstraintModel property)
jointBodyRegressor() (in module Regressor)
jointPlacements (Model property)
joints (Model property)
K
Kd (BaumgarteCorrectorParameters property)
Kinematics
module
Kp (BaumgarteCorrectorParameters property)
L
lambdas_joint1 (RigidConstraintData property)
loadFromBinary() (Model method)
loadFromBinary() (Model method)
loadFromBinary() (Model method)
loadFromString() (Model method)
loadFromText() (Model method)
loadFromXML() (Model method)
loadReferenceConfigurations() (in module srdf)
loadReferenceConfigurationsFromXML() (in module srdf)
loadRotorParameters() (in module srdf)
loadViewerGeometryObject() (GepettoVisualizer method)
(MeshcatVisualizer method)
loadViewerModel() (BaseVisualizer method)
(GepettoVisualizer method)
(MeshcatVisualizer method)
(Panda3dVisualizer method)
(RVizVisualizer method)
lowerPositionLimit (Model property)
M
Mass
module
matrix() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
max_iter (ProximalSettings property)
MeshcatVisualizer (class in pinocchio.visualize)
meshColor (GeometryObject property)
meshPath (GeometryObject property)
meshScale (GeometryObject property)
meshTexturePath (GeometryObject property)
Model
module
Model (class in Model)
module
Centroidal
Collision
Contact
ContactSolvers
Dynamics
Energy
Frame
General
Jacobian
Kinematics
Mass
Model
pinocchio.cholesky
pinocchio.visualize
Regressor
sdf
srdf
urdf
mu (ProximalSettings property)
N
name (Frame property)
(GeometryObject property)
(Model property)
(RigidConstraintModel property)
names (Model property)
nbodies (Model property)
nframes (Model property)
ngeoms (GeometryModel property)
njoints (Model property)
nonLinearEffects() (in module Dynamics)
nq (Model property)
nqs (Model property)
numContacts() (ContactCholeskyDecomposition method)
nv (Model property)
nvs (Model property)
O
oMc1 (RigidConstraintData property)
oMc2 (RigidConstraintData property)
overrideMaterial (GeometryObject property)
P
Panda3dVisualizer (class in pinocchio.visualize)
parent (Frame property)
parentFrame (Frame property)
(GeometryObject property)
parentJoint (Frame property)
(GeometryObject property)
parents (Model property)
PGSSolver (class in Contact)
pinocchio.cholesky
module
pinocchio.visualize
module
placement (Frame property)
(GeometryObject property)
play() (BaseVisualizer method)
previousFrame (Frame property)
ProximalSettings (class in Contact)
R
rebuildData() (BaseVisualizer method)
reference_frame (RigidConstraintModel property)
referenceConfigurations (Model property)
Regressor
module
relative_accuracy (ProximalSettings property)
relative_residual (ProximalSettings property)
reload() (BaseVisualizer method)
(MeshcatVisualizer method)
removeAllCollisionPairs() (GeometryModel method)
removeCollisionPair() (GeometryModel method)
removeCollisionPairs() (in module srdf)
removeCollisionPairsFromXML() (in module srdf)
removeGeometryObject() (GeometryModel method)
RigidConstraintData (class in Contact)
RigidConstraintModel (class in Contact)
rnea() (in module Dynamics)
rnea() (in module Dynamics)
rotorGearRatio (Model property)
rotorInertia (Model property)
rows() (DelassusCholeskyExpression method)
RVizVisualizer (class in pinocchio.visualize)
S
saveToBinary() (Model method)
saveToBinary() (Model method)
saveToBinary() (Model method)
saveToString() (Model method)
saveToText() (Model method)
saveToXML() (Model method)
sdf
module
setAbsolutePrecision() (PGSSolver method)
setBackgroundColor() (BaseVisualizer method)
(MeshcatVisualizer method)
setCameraPose() (BaseVisualizer method)
(MeshcatVisualizer method)
setCameraPosition() (BaseVisualizer method)
(MeshcatVisualizer method)
setCameraPreset() (MeshcatVisualizer method)
setCameraTarget() (BaseVisualizer method)
(MeshcatVisualizer method)
setCameraZoom() (BaseVisualizer method)
(MeshcatVisualizer method)
setCollisionPairs() (GeometryModel method)
setMaxIterations() (PGSSolver method)
setRelativePrecision() (PGSSolver method)
size() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
(RigidConstraintModel method)
solve() (in module pinocchio.cholesky)
solve() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
(PGSSolver method)
srdf
module
subtrees (Model property)
supports (Model property)
T
type (Frame property)
(RigidConstraintModel property)
U
update() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
update() (BroadPhaseManager_DynamicAABBTreeArrayCollisionManager method)
(BroadPhaseManager_DynamicAABBTreeCollisionManager method)
(BroadPhaseManager_IntervalTreeCollisionManager method)
(BroadPhaseManager_NaiveCollisionManager method)
(BroadPhaseManager_SaPCollisionManager method)
(BroadPhaseManager_SSaPCollisionManager method)
updateDamping() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
updateDamping() (ContactCholeskyDecomposition method)
(DelassusCholeskyExpression method)
updateFramePlacement() (in module Frame)
updateFramePlacements() (in module Frame)
updateGeometryPlacements() (in module Collision)
updateGeometryPlacements() (in module Collision)
updateGlobalPlacements() (in module Kinematics)
upperPositionLimit (Model property)
urdf
module
V
velocityLimit (Model property)