Merge pull request #2296 from simeon-ned/devel

Different inertia parametrizations and Physical consistency
stack-of-tasks · Oct 3, 2024 · 5d591b5 · 5d591b5
2 parents 85041ac + 9a2d915
commit 5d591b5
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add compatibility with NumPy 2 `__array__` API ([#2436](https://github.com/stack-of-tasks/pinocchio/pull/2436))
 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
 - Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431))
+- Add Pseudo inertia and Log-cholesky parametrization ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296))
 
 ### Fixed
 - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400))
@@ -22,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix class abstract error for Rviz viewer ([#2425](https://github.com/stack-of-tasks/pinocchio/pull/2425))
 - Fix compilation issue with MSCV and C++17 ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
+- Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296))
 
 ### Changed
 

diff --git a/README.md b/README.md
@@ -43,15 +43,19 @@ or via pip (currently only available on Linux):
 
 ## Table of contents
 
+  - [Table of contents](#table-of-contents)
+  - [Introducing Pinocchio 3](#introducing-pinocchio-3)
   - [Pinocchio main features](#pinocchio-main-features)
   - [Documentation](#documentation)
   - [Examples](#examples)
   - [Tutorials](#tutorials)
+  - [Pinocchio continuous integrations](#pinocchio-continuous-integrations)
   - [Performances](#performances)
   - [Ongoing developments](#ongoing-developments)
+  - [Installation](#installation)
+    - [ROS](#ros)
   - [Visualization](#visualization)
   - [Citing Pinocchio](#citing-pinocchio)
-  - [Citing specific algorithmic contributions](#citing-specific-algorithmic-contributions)
   - [Questions and Issues](#questions-and-issues)
   - [Credits](#credits)
   - [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio)
@@ -265,7 +269,8 @@ The following people have been involved in the development of **Pinocchio** and
 -   [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project
 -   [Sebastian Castro](https://roboticseabass.com) (The AI Institute): MeshCat viewer feature extension
 -   [Lev Kozlov](https://github.com/lvjonok): Kinetic and potential energy regressors
--   [Megane Millan](https://github.com/MegMll) (Inria): Features extension and core developper
+-   [Megane Millan](https://github.com/MegMll) (Inria): Features extension and core developer
+-   [Simeon Nedelchev](https://github.com/simeon-ned): Pseudo inertia and Log-cholesky parametrization
 
 If you have participated in the development of **Pinocchio**, please add your name and contribution to this list.
 

diff --git a/bindings/python/spatial/expose-inertia.cpp b/bindings/python/spatial/expose-inertia.cpp
@@ -18,6 +18,8 @@ namespace pinocchio
     void exposeInertia()
     {
       InertiaPythonVisitor<context::Inertia>::expose();
+      PseudoInertiaPythonVisitor<context::PseudoInertia>::expose();
+      LogCholeskyParametersPythonVisitor<context::LogCholeskyParameters>::expose();
       StdAlignedVectorPythonVisitor<context::Inertia>::expose("StdVec_Inertia");
 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
       serialize<StdAlignedVectorPythonVisitor<context::Inertia>::vector_type>();

diff --git a/cmake b/cmake
diff --git a/include/pinocchio/bindings/python/context/generic.hpp b/include/pinocchio/bindings/python/context/generic.hpp
@@ -54,6 +54,8 @@ namespace pinocchio
       typedef MotionTpl<Scalar, Options> Motion;
       typedef ForceTpl<Scalar, Options> Force;
       typedef InertiaTpl<Scalar, Options> Inertia;
+      typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia;
+      typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters;
       typedef Symmetric3Tpl<Scalar, Options> Symmetric3;
 
       // Multibody
+163 −162		.cmake-format.py
+0 −1		.docs/cmake.py
+16 −7		.pre-commit-config.yaml
+0 −2		CMakeLists.txt
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+64 −20		coverage.cmake
+2 −11		debian.cmake
+61 −98		dist.cmake
+2 −6		distcheck.cmake
+5 −21		doxygen.cmake
+1 −1		find-external/CDD/FindCDD.cmake
+1 −1		find-external/CLP/FindCLP.cmake
+1 −1		find-external/CoinUtils/FindCoinUtils.cmake
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+5 −34		package-config.cmake
+0 −21		package.xml
+2 −3		python-helpers.cmake
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+20 −58		release.cmake
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+0 −1		version.cmake