Geometric Control Optimization and Planning Library
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bin
bullet3 @ 67cdd46
cmake/Modules
data
lib
maps
tests
tools
.gitignore
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AUTHORS
CMakeLists.txt
Doxyfile
README
applydocs.bash
gcop.pc
install.sh
package.xml
runtests.sh

README

1.) if ./docs is empty, run command "doxygen"

2.) See docs/html/index.html

3.) If using Bullet make sure you compile bullet with Double Precision (USE_BULLET) on since optimization loses precision if used with float

4.) Use install.bash for compiling the package

5.) Required Dependencies: GSL (libgsl0-dev) Eigen3(>= 3.1) (>= 3.3.4 for Ubuntu 16.04) (libeigen3-dev) GLUT (freeglut3-dev) For Ubuntu 12.04 see below INSTRUCTIONS

6.) Optional Dependencies: OpenCV(>= 2.4), OpenGL (For bins) DSL (https://github.com/jhu-asco/dsl), Ceres(http://ceres-solver.org/), Casadi (https://github.com/casadi/casadi)

7.) For Ubuntu 12.04 install Ceres version 1.9.0. Ceres also depends on glog which can be installed from https://github.com/google/glog . For Ubuntu 14.04 glog can be installed as " sudo apt-get install libgoogle-glog-dev "

8.) For Ubuntu 12.04 you cannot libeigen3-dev as it will install Eigen 3.0.5. So you have to install from source. We tested with Eigen 3.2.7 and works fine (http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz)

9.) Compilers Tested ON g++ 4.6.3 g++ 4.8.4

10.) Ceres Should be version 1.10 or higher. DO NOT sudo apt-get install ceres on Ubuntu. Even if you did download ceres from source (http://ceres-solver.org/)