Initial README.md

README.md

+# 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
+```