Quadruped kinematics is a C++ library created to handle operations on a quadruped robot. There are no external dependencies like eigen3 or another C++ math library needed. This project uses std::vector to create matrices. You can adapt this library to your needs.

Here are the last steps to complete in order to enter a stable version of this repository:

• Program an algorithm to find the inverse of a 4x4 matrix based on the std::vector
• Run tests to verify that the entire program is working properly (90% test finished)

Installing CMake

You need to have CMake installed to build the project on your computer. You can go to the direct link to download by clicking here. Follow all instructions on the CMake site.

Clone the Project

You can clone and run this package by copying the command below :

git clone https://github.com/vertueux/quadruped_kinematics.git

Build the Project

These commands should be able to build the project on any platform that CMake supports, otherwise follow the instructions for each platform from the CMake website.

cmake --build
make