PKL

Preferred Kinematic Library

Requirements

• Eigen3
• cmake >= 2.8
• google benchmark (optional)
• google test (optional)

Installation

Refer to the docker files under the docker/ directory.

Running the benchmark

docker build -t pkl_benchmark -f docker/<docker_file>
docker run -t pkl_benchmark "/root/benchmark/kdl/pkl_benchmark"

Where docker_file is one of

• Dockerfile_ubuntu_gcc
• Dockerfile_ubuntu_clang
• Dockerfile_arch_gcc

Planned features

• catkin packaging
• MoveIt! plugin support