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sot-dyninv
==========

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This sofware provides the solver and features to resolve the inverse of the
dynamics of a free-floating robot, in contact with its environment.  The basics
are provided by the sot core, and the computation of the dynamics of the robot
can be computed by a third party lib, for example sot-dynamic.


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 sot dynamic inverse depends on several packages which
have to be available on your machine.

 - Libraries:
   - sot-core (>= 1.0.0)
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   - soth (>= 0.0.1)
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 - System tools:
   - CMake (>=2.6)
   - pkg-config
   - usual compilation tools (GCC/G++, make, etc.)


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[sot-core]: http://github.com/stack-of-tasks/sot-core
[soth]: https://github.com/stack-of-tasks/soth.git