Pinocchio 2 to 3

This section describes how to port your code from the Pinocchio 2 to Pinocchio 3.

C++ changes

All Pinocchio 2 deprecated functions had been removed.

The following functions and headers have been renamed or moved:

• Replace pinocchio::BiasZeroTpl by pinocchio::MotionZeroTpl
• Replace pinocchio::fusion::JointVisitorBase by pinocchio::fusion::JointUnaryVisitorBase
• Replace pinocchio::fusion::push_front by pinocchio::fusion::append
• Replace pinocchio::regressor::computeStaticRegressor by pinocchio::computeStaticRegressor
• Replace pinocchio::jointJacobian by pinocchio::computeJointJacobian
• Replace pinocchio::frameJacobian by pinocchio::computeFrameJacobian
• Replace pinocchio::framesForwardKinematics by pinocchio::updateFramePlacements
• Replace pinocchio::kineticEnergy by pinocchio::computeKineticEnergy
• Replace pinocchio::potentialEnergy by pinocchio::computePotentialEnergy
• Replace pinocchio::computeCentroidalDynamics by pinocchio::computeCentroidalMomentum and pinocchio::computeCentroidalMomentumTimeVariation
• Replace pinocchio::centerOfMass(const ModelTpl&, DataTpl&, int, bool) by pinocchio::centerOfMass(const ModelTpl&, DataTpl&, KinematicLevel, bool)
• Replace pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, int) by pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, KinematicLevel)
• Replace pinocchio/algorithm/dynamics.hpp by pinocchio/algorithm/constrained-dynamics.hpp
• Change the order of arguments in some of pinocchio::GeometryObject's constructors

If the compiler complains about missing pinocchio::computeDistances or pinocchio::computeCollisions function you can either:

• Include the right headers:
  • pinocchio/collision/collision.hpp
  • pinocchio/collision/distance.hpp
• Define PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2 when building your project

The following functions have been removed:

• Remove pinocchio::setGeometryMeshScales
• Remove some pinocchio::forwardDynamics signatures
• Remove some pinocchio::impulseDynamics signatures

The following functions and headers are now deprecated:

• Deprecate pinocchio/algorithm/parallel/geometry.hpp moved at pinocchio/collision/parallel/geometry.hpp
• Deprecate pinocchio/spatial/fcl-pinocchio-conversions.hpp moved at pinocchio/collision/fcl-pinocchio-conversions.hpp
• Deprecate pinocchio/parsers/sample-models.hpp moved at pinocchio/multibody/sample-models.hpp
• Deprecate pinocchio/math/cppad.hpp moved at pinocchio/autodiff/cppad.hpp
• Deprecate pinocchio/math/cppadcg.hpp moved at pinocchio/autodiff/cppadcg.hpp
• Deprecate pinocchio/math/casadi.hpp moved at pinocchio/autodiff/casadi.hpp
• Deprecate pinocchio::FrameTpl::parent replaced by pinocchio::FrameTpl::parentJoint
• Deprecate pinocchio::FrameTpl::previousFrame replaced by pinocchio::FrameTpl::parentFrame
• Deprecate pinocchio/algorithm/contact-dynamics.hpp algorithms replaced by pinocchio/algorithm/constrained-dynamics.hpp

CMake targets

Pinocchio 3 has been split into multiple CMake targets:

• pinocchio: Link against all available Pinocchio libraries
• pinocchio_headers: Link against Pinocchio header only core library
• pinocchio_double: Link against Pinocchio core library explicitly template instantiated for double scalar type
• pinocchio_casadi: Link against Pinocchio core library explicitly template instantiated for casadi scalar type
• pinocchio_cppad: Link against Pinocchio core library explicitly template instantiated for cppad scalar type
• pinocchio_cppadcg: Link against Pinocchio core library explicitly template instantiated for cppadcg scalar type
• Parsers: Link against Pinocchio parsers library
• pinocchio_parallel: Link against Pinocchio parallel algorithms library
• pinocchio_collision: Link against Pinocchio collision library
• pinocchio_collision_parallel: Link against Pinocchio collision parallel algorithms library
• pinocchio_extra: Link against Pinocchio extra algorithms library

Python changes

All Pinocchio 2 deprecated functions had been removed.

The following functions have been renamed or moved:

• Replace pinocchio.utils.skew by pinocchio.skew
• Replace pinocchio.utils.se3ToXYZQUAT by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.utils.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.robot_wrapper.RobotWrapper.frameClassicAcceleration by pinocchio.robot_wrapper.RobotWrapper.frameClassicalAcceleration
• Replace pinocchio.robot_wrapper.RobotWrapper.jointJacobian by pinocchio.robot_wrapper.RobotWrapper.computeJointJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.frameJacobian by pinocchio.robot_wrapper.RobotWrapper.computeFrameJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.initDisplay by pinocchio.robot_wrapper.RobotWrapper.initViewer
• Replace pinocchio.robot_wrapper.RobotWrapper.loadDisplayModel by pinocchio.robot_wrapper.RobotWrapper.loadViewerModel
• Replace pinocchio.deprecated.se3ToXYZQUATtuple by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.deprecated.se3ToXYZQUAT by pinocchio.SE3ToXYZQUAT
• Replace pinocchio.deprecated.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.deprecated.buildGeomFromUrdf(model, filename, [str]) by pinocchio.buildGeomFromUrdf(model, filename, type, package_dirs, mesh_loader)
• Replace pinocchio.rpy.npToTTuple by pinocchio.utils.npToTTuple
• Replace pinocchio.rpy.npToTuple by pinocchio.utils.npToTuple
• Replace pinocchio.jacobianSubtreeCoMJacobian by pinocchio.jacobianSubtreeCenterOfMass

The following functions have been removed:

• Remove pinocchio.utils.cross
• Remove pinocchio.robot_wrapper.RobotWrapper.initMeshcatDisplay
• Remove pinocchio.deprecated.setGeometryMeshScales by pinocchio