This package should be compiled and installed with cmake.
This library is based on several packages:
dynamic-graph (https://github.com/stack-of-tasks/dynamic-graph) eigen boost pthread python pinocchio (https://github.com/stack-of-tasks/pinocchio)Their presence will be checked with the use of pkg-config.
The recommended way to install sot-core is to use robotpkg and its wip extension.
A short and quick way to get it on 16.04 LTS is to do the following:
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub kinetic robotpkg deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub kinetic robotpkg EOF
This created a file to add robotpkg and robotpkg/wip as apt repositories. To identify the packages from this repository the server key must be added:
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
The list of available packages is provided through:
sudo apt-get update
Finally the package is installed with:
sudo apt-get install robotpkg-sot-core-v3
Although not recommended you can install the repository after installing all the dependencies and type:
mkdir _build cd _build cmake .. -DCMAKE_BUILD_TYPE=RELEASE make -j 8
To build the documentation
make doc
To test the code
make test