Commit 42fd21d8 authored by stonneau's avatar stonneau Committed by GitHub
Browse files


parent 707cbf5f
......@@ -59,10 +59,20 @@ Please refer to the Main.cpp files to see all the unit tests and possibilities o
The library is header only, so you just need to copy the include folder where you need.
Eigen is required for the library to work.
## Dependencies
* [Eigen (version >= 3.2.2)](
## Additional dependencies for python bindings
* [Boost.Python](
* [eigenpy](
To handle this with cmake, use the recursive option to clone the repository.
For instance, using http:
git clone --recursive $SPLINE_DIR
The library is header only, so the build only serves to build the tests and python bindings:
To run the tests, there is a CMakeLists.txt:
cd $SPLINE_DIR && mkdir build && cd build
cmake .. && make
......@@ -74,3 +84,21 @@ If everything went fine you should obtain the following output:
performing tests...
no errors found
### Optional: Python bindings installation
To install the Python bindings, in the CMakeLists.txt file, first enable the BUILD_PYTHON_INTERFACE option:
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
Then rebuild the library:
cd $SPLINE_DIR/build
make install
The python bindings should then be accessible through the package centroidal_dynamics.
To see example of use, you can refer to the [test file](
which is rather self explanatory:
In spite of an exhaustive documentation, please refer to the C++ documentation, which mostly applies
to python. For the moment, only bezier curves are binded.
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