rbdlpy

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:
  • eigen3
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)
• Python 2.7
• Boost python

Unit tests

In the /unittest folder, one can find unit tests for each module of RBDL. For example, kinematics.py demonstrates the functionality of Kinematics module of RBDL using Python.

Tutorials

In the /python folder, there are certain tutorials to demonstrate the ability of RBDLPY. For example, FDTest.py demonstrate how to simulate the forward dynamics of a double pendulum system defined using Python. The tutorials are self explanatory and commented properly.