Benchmarking Pinocchio
Setup your environment
You need both eigen2 (for KDL) and eigen3 (for RBDL & Pinocchio):
sudo apt install -qqy libeigen{2,3}-devYou 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 $PWD/prefix # with fishPinocchio
Downloading
If you did not clone this repository with the --recursive options, you will have to get the submodules with:
git submodule update --init --recursiveInstalling
mkdir -p build/pinocchio
pushd build/pinocchio
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX ../../libs/pinocchio
make install
popdKDL
Installing
mkdir -p build/kdl
pushd build/kdl
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX ../../libs/kdl/orocos_kdl
make install
popdRBDL
Downloading
RBDL uses mercurial, and git-hg can't clone it, so we can't provide a git submodule, and you have to download it:
wget https://bitbucket.org/rbdl/rbdl/get/default.zip
unzip default.zip
rm default.zip
mv rbdl-rbdl-* libs/rbdlInstalling
mkdir -p build/rbdl
pushd build/rbdl
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DRBDL_BUILD_ADDON_URDFREADER=ON ../../libs/rbdl
make install
popdBenchmarks
Installing
mkdir -p build/benchmarks
pushd build/benchmarks
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_PREFIX_PATH=$PREFIX ../..
make install
popd