Pinocchio 3 to 4

This section describes how to port your code from the Pinocchio 3 to Pinocchio 4.

C++ changes

All Pinocchio 3 deprecated headers had been removed:

• Replace pinocchio/math/casadi.hpp by pinocchio/autodiff/casadi.hpp
• Replace pinocchio/algorithm/parallel/geometry.hpp by pinocchio/collision/parallel/geometry.hpp
• Replace pinocchio/spatial/fcl-pinocchio-conversions.hpp by pinocchio/collision/fcl-pinocchio-conversions.hpp
• Replace pinocchio/parsers/sample-models.hpp by pinocchio/multibody/sample-models.hpp
• Replace pinocchio/bindings/python/parsers/python.hpp by pinocchio/parsers/python.hpp
• Replace pinocchio/math/cppad.hpp by pinocchio/autodiff/cppad.hpp
• Replace pinocchio/math/cppadcg.hpp by pinocchio/codegen/cppadcg.hpp

All Pinocchio 3 deprecated functions had been removed:

• Replace FrameTpl::parent by FrameTpl::parentJoint
• Replace FrameTpl::previousFrame by FrameTpl::parentFrame
• Replace GeometryObject constructor argument order has changed

Remove use of Eigen::aligned_allocator:

• Deprecate PINOCCHIO_ALIGNED_STD_VECTOR replaced by std::vector
• Deprecate PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR replaced by std::vector
• Deprecate pinocchio::container::aligned_vector<T> replaced by std::vector<T, std::allocator<T>>
• Deprecate pinocchio/container/aligned-vector.hpp
• Deprecate pinocchio::python::StdAlignedVectorPythonVisitor

Eigen 3.4 is now the required minimum version of Eigen:

• Remove PINOCCHIO_WITH_EIGEN_TENSOR_MODULE define

HPP-FCL has been replaced by coal:

• Deprecate pinocchio/multibody/fcl.hpp moved to pinocchio/multibody/coal.hpp
• Deprecate pinocchio/serialization/fcl.hpp moved to pinocchio/serialization/coal.hpp
• Deprecate pinocchio/collision/fcl-pinocchio-conversions.hpp moved to pinocchio/collision/coal-pinocchio-conversions.hpp
• Deprecate pinocchio/bindings/python/collision/fcl/transform.hpp moved at pinocchio/bindings/python/collision/coal/transform.hpp
• Deprecate pinocchio::toFclTransform3f replaced by pinocchio::toCoalTransform3s
• Deprecate PINOCCHIO_WITH_HPP_FCL replaced by PINOCCHIO_WITH_COLLISION

Constraints API changes:

• Add std::vector<ConstraintData, ConstraintDataAllocator> contact_datas in initConstraintDynamics method
• Change BaumgarteCorrectorParametersTpl constructor: scalars are used for the gains instead of vectors

RigidConstraintModel internal API has changed:

• Remove colwise_joint1_sparsity
• Remove colwise_joint2_sparsity
• Remove joint1_span_indexes
• Remove joint2_span_indexes

Deprecate ContactCholeskyDecompositionTpl, replaced by ConstraintCholeskyDecompositionTpl

• Deprecate DelassusCholeskyExpressionTpl, replaced by DelassusOperatorCholeskyExpressionTpl

ConstraintCholeskyDecompositionTpl changes :

• Deprecate ConstraintCholeskyDecompositionTpl::allocate replaced by ConstraintCholeskyDecompositionTpl::rebuild
  • Add std::vector<ConstraintModel, ConstraintModelAllocator>
  • Add std::vector<ConstraintData, ConstraintDataAllocator>
• ConstraintCholeskyDecompositionTpl constructor :
  • Add DataTpl<S1, O1, JointCollectionTpl>
  • Add std::vector<ConstraintData, ConstraintDataAllocator>

Utility API changes:

• Remove gettimeofday definition on Windows
• Remove operator-(timeval, timeval) definition
• Remove deprecated-macros.hpp and deprecated-namespaces.hpp
• Remove pinocchio/deprecation.hpp replaced by pinocchio/deprecated.hpp

Python bindings API changes:

• Deprecate pinocchio/bindings/python/multibody/joint/joint.hpp replaced by pinocchio/bindings/python/multibody/joint/joint-model.hpp
• Deprecate Python bindings headers already implemented in eigenpy:
  • pinocchio/bindings/python/utils/registration.hpp replaced by eigenpy/registration.hpp
  • pinocchio/bindings/python/utils/copyable.hpp replaced by eigenpy/copyable.hpp
  • pinocchio/bindings/python/utils/deprecation.hpp replaced by eigenpy/deprecation-policy.hpp

Python changes

HPP-FCL has been replaced by coal:

• Deprecate pinocchio.WITH_HPP_FCL and pinocchio.WITH_HPP_FCL_BINDINGS replaced by pinocchio.WITH_COLLISION
• Deprecate pinocchio.hppfcl replaced by pinocchio.coal
• Deprecate buildModelFromMJCF(filename, root_joint, root_joint_name) replaced by buildModelFromMJCFAndRootJoint and buildModelAndLegacyConstraintsFromMJCF
• Deprecate buildModelFromSdf replaced by buildModelAndLegacyConstraintsFromSdf

Constraints API changes:

• Add contact_datas in initConstraintDynamics method
• Change BaumgarteCorrectorParameters constructor scalar are used instead of vectors

Deprecate ContactCholeskyDecomposition, replaced by ConstraintCholeskyDecomposition

• Deprecate DelassusCholeskyExpressionTpl, replaced by DelassusOperatorCholeskyExpressionTpl