From 686d3f22f972b411a9569efc841cdba7e6823369 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 18 Jul 2018 15:22:14 +0200
Subject: [PATCH] Initial README.md
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+# Benchmarking Pinocchio
+
+## Setup your environment
+
+You need both eigen2 (for KDL) and eigen3 (for RBDL & Pinocchio):
+```
+sudo apt install -qqy libeigen{2,3}-dev
+```
+
+You have to choose the `PREFIX` in which you want to install Pinocchio, RBDL & KDL:
+
+
+```
+export PREFIX=$PWD/prefix # with bash / zsh
+# OR
+set -x PREFIX $PWD/prefix # with fish
+```
+
+## Pinocchio
+
+### Downloading
+
+If you did not clone this repository with the `--recursive` options, you will have to get the submodules with:
+```
+git submodule update --init --recursive
+```
+
+### Installing
+
+```
+mkdir -p build/pinocchio
+pushd build/pinocchio
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX ../../libs/pinocchio
+make install
+popd
+```
+
+## KDL
+
+### Installing
+
+```
+mkdir -p build/kdl
+pushd build/kdl
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX ../../libs/kdl/orocos_kdl
+make install
+popd
+```
+
+## RBDL
+
+### Downloading
+
+RBDL uses mercurial, and git-hg can't clone it, so we can't provide a git submodule, and you have to download it:
+
+```
+wget https://bitbucket.org/rbdl/rbdl/get/default.zip
+unzip default.zip
+rm default.zip
+mv rbdl-rbdl-* libs/rbdl
+```
+
+### Installing
+
+```
+mkdir -p build/rbdl
+pushd build/rbdl
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DRBDL_BUILD_ADDON_URDFREADER=ON ../../libs/rbdl
+make install
+popd
+```
+
+## Benchmarks
+
+### Installing
+
+```
+mkdir -p build/benchmarks
+pushd build/benchmarks
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_PREFIX_PATH=$PREFIX ../..
+make install
+popd
+```
--
GitLab