jrl-walkgen

This software provides a pattern generator for biped robots.

It relies on the abstract-robot-dynamics specification to realize dynamics computation.

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:
  • abstract-robot-dynamics (>= 1.16) The pattern generator uses dynamics provided by the abstract interface.
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)

Additional notes regarding compilation on Microsoft Windows

This package has been tested using Microsoft Visual Studio 8.

• Install MinGW
• Make sure all environment variables are set up properly.
• Generate the Makefile using the NMake Makefile generator.