Verified Commit 4bea0715 authored by Justin Carpentier's avatar Justin Carpentier
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doc: fix doc with new compilation instructions

parent 617b31fd
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......@@ -67,7 +67,7 @@ We start with a simple program to compute the robot inverse dynamics. It is give
You can compile the C++ version by including Pinocchio and Eigen header directories.
\code g++ -I /path/to/eigen -I /path/to/pinocchio/include/ overview-simple.cpp -o overview-simple \endcode
\code g++ -std=c++11 $(pkg-config --cflags --libs pinocchio) overview-simple.cpp -o overview-simple \endcode
where `/path/to/pinocchio` is your chosen installation directory for Pinocchio.
If you do not know Eigen's installation path, you can retrive it with `pkg-config --cflags eigen3`.
......@@ -136,10 +136,9 @@ in Python.
\subsection OverviewComplexCompile Compiling and running your program
This time, we must specify that URDFDOM is needed, as the model will be parsed from URDF.
Also, we need to link to `liburdfdom_model` and to `libboost_system`.
In similar way than the previous example, you simple need to do:
\code g++ -I /path/to/eigen -I /path/to/pinocchio/include/ -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR -DPINOCCHIO_WITH_URDFDOM overview-urdf.cpp -lboost_system -lurdfdom_model -o overview-urdf \endcode
\code g++ -std=c++11 $(pkg-config --cflags --libs pinocchio) overview-urdf.cpp -o overview-urdf \endcode
The program typically runs with a UR5 URDF description, that can be found for example in this repository https://github.com/humanoid-path-planner/ur_description
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