jrl-walkgen =========== [](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) - Boost - Eigen - 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.