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sot-dynamic-pinocchio
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Encapsulate Pinocchio in SoT
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===========

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[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
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[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/commits/master)
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This software provides robot dynamic computation for dynamic-graph
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by using pinocchio.
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Setup
-----

To compile this package, it is recommended to create a separate build
directory:

    mkdir _build
    cd _build
    cmake [OPTIONS] ..
    make install

Please note that CMake produces a `CMakeCache.txt` file which should
be deleted to reconfigure a package from scratch.


### Dependencies

The matrix abstract layer depends on several packages which
have to be available on your machine.

 - Libraries:
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   - [dynamic-graph][dynamic-graph] (>= 3.0.0)
   - [sot-core][sot-core] (>= 3.0.0)
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   - [pinocchio][pinocchio] (>= 1.1.2)
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 - System tools:
   - CMake (>=2.6)
   - pkg-config
   - usual compilation tools (GCC/G++, make, etc.)


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[dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
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[pinocchio]: http://github.com/stack-of-tasks/pinocchio
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[sot-core]: http://github.com/stack-of-tasks/sot-core