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[](https://travis-ci.org/stack-of-tasks/jrl-walkgen)
[](https://gepgitlab.laas.fr/stack-of-tasks/jrl-walkgen/commits/master)
[](http://projects.laas.fr/gepetto/doc/stack-of-tasks/jrl-walkgen/master/coverage/)
This software provides a pattern generator for biped robots.
It relies on the [StackOfTasks/Pinocchio][StackOfTasks/Pinocchio]
specification to realize dynamics computation.
Setup
-----
To compile this package, it is recommended to create a separate build
directory:
mkdir _build
cd _build
cmake [OPTIONS] ..
make install
Please note that CMake produces a `CMakeCache.txt` file which should
be deleted to reconfigure a package from scratch.
### Dependencies
The matrix abstract layer depends on several packages which
have to be available on your machine.
- Libraries:
- [pinocchio][https://github.com/stack-of-tasks/pinocchio] (>= 1.1.0)
The pattern generator uses dynamics provided by the pinocchio template
programming interface.
- [jrl-mal][https://github.com/jrl-umi3218/jrl-mal] (>= 1.9.0)
- [qpOASES][https://projects.coin-or.org/qpOASES] (normally compatible with
the last version)
- [simple-humanoid-description][https://github.com/MaximilienNaveau/simple_humanoid_description.git] ( >= 1.0.1)
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
Additional notes regarding compilation on Microsoft Windows
-----------------------------------------------------------
This package has been tested using Microsoft Visual Studio 8.
- Install MinGW
- Make sure all environment variables are set up properly.
- Generate the Makefile using the NMake Makefile generator.