How to include pinocchio library in a project as a header only library?

[IvanVnucec]

How to include pinocchio library in a c++ project as a header only library? Is it possible?

[igor-sadalski]

I am trying to use CMake

[jcarpent]

Dear @IvanVnucec and @igor-sadalski,

The answer is yes, but it is not as easy as we would like.
The core framework is header-only while only the URDF and Python parsers are shared libs.

@IvanVnucec Why do you specifically need header-only?

[IvanVnucec]

Basically I am trying to simulate flying quadcopter. Quadcopter model is really simple one with two rods crossed with a fixed joint. On every rods end there is a propeller simulated as a simple force.
Simulator is written in C++ and I'm not intending to use Pinocchio Python API.
As for URDF, my quadcopter model is so simple that I think I could write it by hand in C++ if possible.

Is it possible that I could incorporate Pinocchio library as a header only library? If yes, is there any documentation explaining how?

[jcarpent]

If you don't use the parsers, then you will just need to link to the headers of Pinocchio.
I will try to do a demo by Monday. Do you use CMake?

[IvanVnucec]

Great, thank you! Yes, I am using CMake.

[fabinsch]

Hey @IvanVnucec and @igor-sadalski , I opened a PR to add an additional target called pinocchio_headers in the CMakeLists - you can check what I have done here #1712.

Now I can compile this example file (test_forward_dynamics.cpp):

#include "pinocchio/parsers/sample-models.hpp"

#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/aba.hpp"

#include <iostream>

int main(int argc, char ** argv)
{
  using namespace pinocchio;
  
  pinocchio::Model model;
  pinocchio::buildModels::humanoidRandom(model);
  
  // Build a data related to model
  Data data(model);
  
  // Sample a random joint configuration as well as random joint velocity and torque
  Eigen::VectorXd q = randomConfiguration(model);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd tau = Eigen::VectorXd::Random(model.nv);
  
  // Computes the forward dynamics (ABA) 
  aba(model, data, q, v, tau);
  
  // Get access to the joint acceleration
  std::cout << "Joint acceleration: " << data.ddq << std::endl;
}

with the command

c++ -o test test_forward_dynamics.cpp -L<path-to-pinocchio_headers_lib> -lpinocchio_headers -I$CONDA_PREFIX/include/eigen3 -I$CONDA_PREFIX/include/

You need to provide the path to eigen3 and boost (in my case in a conda env), as well as the pinocchio_headers.

[IvanVnucec]

Great, very nicely written. Thank you for commitment!