jrl-walkgen

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.