SoT Dynamic Pinocchio

Encapsulate Pinocchio in SoT

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

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