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<h2>How to install the stack of tasks on your machine?</h2>

<h2>Prerequisites</h2>
<p>The current software architecture has been tested entirely only on 
  Ubuntu 12.04 LTS, Ubuntu 14.04 LTS and is currently being ported on 16.04 LTS.
  
  A large part of the basic algorithms have been tested on Windows and Mac a while go, but there is no guarantee that it is still true.
</p>

<p>We advise the use of robotpkg to install the Stack of Tasks. You can try the install from the source code
 but we rather advice its <a href="http://robotpkg.openrobots.org/debian.html">binary repository</a>.
<p>
  
  
  <h3>Dependencies</h3>

  The needed software are:
  git, CMake, boost, lapack, blas, python 2.7

  <ul>
    <li>CMake</li>
    <li>gcc, g++</li>
    <li>Doxygen (and eventually LaTeX for mathematical formula rendering)</li>
    <li>Boost</li>
    <li>Eigen</li>
    <li>Blas, lapack</li>
  </ul>
  
  ROS (fuerte, groovy, hydro, indigo).
  Please note that most of the packages are ROS-independent, but some packages 
  allow to link the SOT framework to ROS (e.g. dynamic_graph_bridge, redundant_manipulator_control)
</p>

<h2>Binary installation</h2>

<p>
We are currently providing the stack of tasks through robotpkg on Ubuntu 12.04 LTS (i386/amd64),
and Ubuntu 14.04 LTS (amd64).
</p>

<p>
Please follow the instructions given <a href="http://robotpkg.openrobots.org/debian.html">here</a> to
access the package repository.
</p>

<p>
To install the package sot-core-v3 you can use
<pre> <code class="bash">apt-get install robotpkg-sot-core-v3</code></pre>
</p>
<h2>Source installation</h2>

<p>
  The source installation can be realized through robotpkg.
  Please follow the instructions given <a href="http://robotpkg.openrobots.org/install.html">here</a> to
  access the package repository.
  You will also have to install the wip (work in progress) part of robotpkg. The installation procedure is described
  <a href="http://robotpkg.openrobots.org/robotpkg-wip.html">here</a>

  To install the package sot-core-v3 then you can type:
  <pre><code class="bash">cd robotpkg/wip/sot-core-v3
make install</code> </pre>
    
</p>

<!--
<h3>Windows</h3>
Again, the support on windows is not provided.
However, if you want to give it a try, here are some leads that you can follow 
for a first push.

<h4>Windows</h4>
You can download some of the external dependencies there:
<ul>
  <li><a href="">cmake</a></li>
  <li><a href="http://sphinx-doc.org/install.html#windows-install-python-and-sphinx">Python and sphinx</a></li>
  <li><a href="">Compilation script</a>This compilation script is way simpler than Ubuntu's one</li>
</ul>

One "trick" consists in using git bash to compile all the packages in command line.
-->

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