sot-dynamic

This software provides robot dynamic computation for dynamic-graph by using jrl-dynamics.

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:
  • jrl-dynamics (>= 1.16.1)
  • dynamic-graph (>= 1.0.0)
  • sot-core (>= 1.0.0)
  • jrl-mal (>= 1.8.0)
• Closed source libraries:
  • hrp2Dynamics (>= 1.3.0)
  • hrp2-10-optimized (>= 1.3.0) [optional]
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)