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Forked from Stack Of Tasks / jrl-walkgen

1146 commits behind the upstream repository.

Andrei Herdt authored 14 years ago

- Add methods
buildInequalitiesCoP,
buildInequalitiesFeet,
buildConstraints,
buildConstraintsCoP,
buildConstraintsFeet.
- Use of single sparse matrices instead of queues of small compact ones.
- Add method for initialization of matrices.
- Minor changes

7c8b4f8a

7c8b4f8a 14 years ago

Name	Last commit	Last update
debian
doc
include/jrl/walkgen
src
tests
cmake @ 92eb6d1f
.gitignore
.gitmodules
.mailmap
AUTHORS
CMakeLists.txt
COPYING.LESSER
NEWS
README.md
STATUS

jrl-walkgen

This software provides a pattern generator for biped robots.

It relies on the abstract-robot-dynamics 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:
- abstract-robot-dynamics (>= 1.16) The pattern generator uses dynamics provided by the abstract interface.
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.