invdyn

C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio. Take a look at the project wiki for more details.

Dependencies

• boost (unit_test_framework, serialization)
• eigen3
• pinocchio

To install eigen3 on Ubuntu you can use apt-get: sudo apt-get install libeigen3-dev

To install pinocchio follow the instruction on its website.

Installation

cd $DEVEL/openrobots/src/
git clone --recursive git@github.com:stack-of-tasks/invdyn.git
cd invdyn
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install