Pinocchio 2.4.5

This new release extends the current frames algorithms to also consider the LOCAL_WORLD_ALIGNED reference frame.
It also exposes the values of the enum_ for simplified usage.

Pinocchio 2.4.4

This new release provides:

• new helpers function to retrieve frame velocities and accelerations
• for each collision pair, it is now possible to provide specific collision checking settings
• support to display convex hulls in viewers

It also fixes:

• the support of Panda3d

and enhances the global CMake packaging of the project.

Pinocchio 2.4.3

This new release provides a new Viewer, named Panda3d, for easy code visualization in Python.
It also provides additional fixes to the Code Generation support.

Pinocchio 2.4.2

This new release of Pinocchio provides new features for dealing with Lie groups:

• improved operations over the differential operations of the integrate function
• new functions for transporting some matrix between the two endpoints of the integrate function
• the RPY functions are now robust over singularities
• the support of autodiff frameworks has been improved to also cope with Lie groups features

This release also provides:

• a packaging fixe with respect to the URDFDOM dependency
• the Python bindings should now be without memory leak

Pinocchio 2.4.1

This new release fixes a bug introduced in Pinocchio 2.4.0 concerning the method ModelTpl::addFrame.
This release also provides better support for the checking of the CppAD and CppADCodeGen versions.

Pinocchio 2.4.0

This new release of Pinocchio makes several improvements:

• improve compatibility with hpp-fcl
• improve compatibility with CppAD and notably the Lie algebra features
• a better CMake >= 3.0 export of the project
• new examples for Code generation
• improved Python bindings
• improved support for Boost.Multiprecision
• reduce the memory usage when compilation unit tests

and we have started to move some dependencies like urdfdom to the pinocchio.so library to avoid additional compilations issues and to useless compilations burden.

Pinocchio 2.3.1

This new release provides:

• some fixes with respect to minor bugs introduced in Pinocchio 2.3.0
• an enhance detection of Python
• improves the compilation memory overhead

Pinocchio 2.3.0

This new release provides:

• full compatibility with CMake export
• full compatibility with Numpy.Array
• examples for Code generation
• better support of C++11
• minor bug fixes
• improves coverage
• uniformizes function signature
• improves interoperability between Numpy and Pinocchio
• add many examples
• full integration of Python bindings of hpp-fcl
• supports the pickling and the serialization of Data

Pinocchio 2.2.3

This new release provides:

• pickling and serialization of Data structures
• provide new algorithms to create reduce models

It also improves the compatibility with the Transform used in HPP-FCL.
It also fixes various bugs.
It also comes with new and detailed examples.

Pinocchio 2.2.2

This new release:

• improves the compatibility with HPP-FCL bindings
• improves the documentation of the project with more examples
• fixes some bugs related to Eigen
• add new algorithms to compute the centroidal matrix and its time derivatives