Cyber Control

A handy set of tools for the every day controls engineer.
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Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Contributing
4. License
5. Contact
6. Acknowledgements

About The Project

Built With

• Libboost
• Eigen
• yaml-cpp
• GTest
• Gnuplot
• Sophus
• OSQP
• Autodiff
• Cyber Utilities
• Cyber Math

Getting Started

To get a local copy up and running follow these simple steps.

Prerequisites

• libboost

  sudo apt install libboost-dev

• Eigen

  sudo apt install libeigen3-dev

• yaml-cpp

  sudo apt install libyaml-cpp-dev

• GTest (only necessary to build tests)

  sudo apt install libgtest-dev

• Gnuplot (only necessary to run examples)

  sudo apt install gnuplot

• Sophus

  git clone https://github.com/strasdat/Sophus.git
  mkdir Sophus/build
  cd Sophus/build
  cmake ..
  make -j2
  sudo make install

• OSQP

  git clone --recursive https://github.com/osqp/osqp.git
  cd osqp
  git checkout v0.6.0
  mkdir build
  cd build
  cmake -G "Unix Makefiles" ..
  cmake --build .
  sudo cmake --build . --target install

• Autodiff

  git clone https://github.com/autodiff/autodiff.git
  cd autodiff
  git checkout v0.5.12
  mkdir build
  cd build
  cmake ..
  make -j2
  sudo make install

• Cyber Utilities

  git clone https://github.com/yamaha-bps/cbr_utils.git
  mkdir cbr_utils/build
  cd cbr_utils/build
  cmake .. -DBUILD_TESTING=OFF-DBUILD_EXAMPLES=OFF
  make -j2
  sudo make install

• Cyber Math

  git clone https://github.com/yamaha-bps/cbr_math.git
  mkdir cbr_math/build
  cd cbr_math/build
  cmake .. -DBUILD_TESTING=OFF-DBUILD_EXAMPLES=OFF
  make -j2
  sudo make install

Installation

1. Clone the repo

   git clone https://github.com/yamaha-bps/cbr_control.git

2. Make build directory

   cd cbr_control
   mkdir build

3. Build

   cd build
   cmake .. -DBUILD_TESTING=ON
   make -j2

4. Install

   sudo make install

5. Verify successful install (tests should all pass)

   make test

6. Uninstall if you don't like it

   sudo make uninstall

Contributing

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

Distributed under the MIT License. See LICENSE for more information.

Project Link: https://github.com/yamaha-bps/cbr_control

Acknowledgements

• Yamaha Motor Corporation