orocos_kinematics_dynamics

(★ 899)

Orocos Kinematics and Dynamics C++ library

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- - main.yml
- dependabot.yml
- - CheckSTLContainers.cmake
  - FindEigen3.cmake
  - FindPkgConfig.cmake
- - changelog
  - compat
  - control
  - copyright
  - docs
  - kdl.doc-base.EX
  - liborocos-kdl-dev.install
  - liborocos-kdl.install
  - manpage.1.ex
  - python-orocos-kdl.install
  - README
  - README.Debian
  - rules
  - substvars
- - CMakeLists.txt
  - Doxyfile.in
  - tests.txt
- - chainiksolverpos_lma_demo.cpp
  - CMakeLists.txt
  - geometry.cpp
  - plotframe.m
  - README
  - trajectory_example.cpp
  - visualize_trajectory.m
- - CMakeLists.txt
  - kukaLWR_DHnew.cpp
  - kukaLWRtestDHnew.cpp
  - kukaLWRtestHCG.cpp
  - models.hpp
  - puma560.cpp
  - puma560test.cpp
- - articulatedbodyinertia.cpp
  - articulatedbodyinertia.hpp
  - chain.cpp
  - chain.hpp
  - chaindynparam.cpp
  - chaindynparam.hpp
  - chainexternalwrenchestimator.cpp
  - chainexternalwrenchestimator.hpp
  - chainfdsolver.hpp
  - chainfdsolver_recursive_newton_euler.cpp
  - chainfdsolver_recursive_newton_euler.hpp
  - chainfksolver.hpp
  - chainfksolverpos_recursive.cpp
  - chainfksolverpos_recursive.hpp
  - chainfksolvervel_recursive.cpp
  - chainfksolvervel_recursive.hpp
  - chainhdsolver_vereshchagin.cpp
  - chainhdsolver_vereshchagin.hpp
  - chainidsolver.hpp
  - chainidsolver_recursive_newton_euler.cpp
  - chainidsolver_recursive_newton_euler.hpp
  - chainidsolver_vereshchagin.cpp
  - chainidsolver_vereshchagin.hpp
  - chainiksolver.hpp
  - chainiksolverpos_lma.cpp
  - chainiksolverpos_lma.hpp
  - chainiksolverpos_nr.cpp
  - chainiksolverpos_nr.hpp
  - chainiksolverpos_nr_jl.cpp
  - chainiksolverpos_nr_jl.hpp
  - chainiksolvervel_pinv.cpp
  - chainiksolvervel_pinv.hpp
  - chainiksolvervel_pinv_givens.cpp
  - chainiksolvervel_pinv_givens.hpp
  - chainiksolvervel_pinv_nso.cpp
  - chainiksolvervel_pinv_nso.hpp
  - chainiksolvervel_wdls.cpp
  - chainiksolvervel_wdls.hpp
  - chainjnttojacdotsolver.cpp
  - chainjnttojacdotsolver.hpp
  - chainjnttojacsolver.cpp
  - chainjnttojacsolver.hpp
  - CMakeLists.txt
  - config.h.in
  - frameacc.cpp
  - frameacc.hpp
  - frameacc.inl
  - frameacc_io.hpp
  - frames.cpp
  - frames.hpp
  - frames.inl
  - frames_io.cpp
  - frames_io.hpp
  - framevel.cpp
  - framevel.hpp
  - framevel.inl
  - framevel_io.hpp
  - jacobian.cpp
  - jacobian.hpp
  - jntarray.cpp
  - jntarray.hpp
  - jntarrayacc.cpp
  - jntarrayacc.hpp
  - jntarrayvel.cpp
  - jntarrayvel.hpp
  - jntspaceinertiamatrix.cpp
  - jntspaceinertiamatrix.hpp
  - joint.cpp
  - joint.hpp
  - kdl.hpp
  - kinfam.hpp
  - kinfam_io.cpp
  - kinfam_io.hpp
  - motion.hpp
  - path.cpp
  - path.hpp
  - path_circle.cpp
  - path_circle.hpp
  - path_composite.cpp
  - path_composite.hpp
  - path_cyclic_closed.cpp
  - path_cyclic_closed.hpp
  - path_line.cpp
  - path_line.hpp
  - path_point.cpp
  - path_point.hpp
  - path_roundedcomposite.cpp
  - path_roundedcomposite.hpp
  - README.txt
  - rigidbodyinertia.cpp
  - rigidbodyinertia.hpp
  - rotational_interpolation.cpp
  - rotational_interpolation.hpp
  - rotational_interpolation_sa.cpp
  - rotational_interpolation_sa.hpp
  - rotationalinertia.cpp
  - rotationalinertia.hpp
  - segment.cpp
  - segment.hpp
  - solveri.hpp
  - stiffness.hpp
  - TODO.txt
  - trajectory.cpp
  - trajectory.hpp
  - trajectory_composite.cpp
  - trajectory_composite.hpp
  - trajectory_segment.cpp
  - trajectory_segment.hpp
  - trajectory_stationary.cpp
  - trajectory_stationary.hpp
  - tree.cpp
  - tree.hpp
  - treefksolver.hpp
  - treefksolverpos_recursive.cpp
  - treefksolverpos_recursive.hpp
  - treeidsolver.hpp
  - treeidsolver_recursive_newton_euler.cpp
  - treeidsolver_recursive_newton_euler.hpp
  - treeiksolver.hpp
  - treeiksolverpos_nr_jl.cpp
  - treeiksolverpos_nr_jl.hpp
  - treeiksolverpos_online.cpp
  - treeiksolverpos_online.hpp
  - treeiksolvervel_wdls.cpp
  - treeiksolvervel_wdls.hpp
  - treejnttojacsolver.cpp
  - treejnttojacsolver.hpp
  - velocityprofile.cpp
  - velocityprofile.hpp
  - velocityprofile_dirac.cpp
  - velocityprofile_dirac.hpp
  - velocityprofile_rect.cpp
  - velocityprofile_rect.hpp
  - velocityprofile_spline.cpp
  - velocityprofile_spline.hpp
  - velocityprofile_trap.cpp
  - velocityprofile_trap.hpp
  - velocityprofile_traphalf.cpp
  - velocityprofile_traphalf.hpp
- - CMakeLists.txt
  - framestest.cpp
  - framestest.hpp
  - inertiatest.cpp
  - inertiatest.hpp
  - iotest.cpp
  - jacobiandottest.cpp
  - jacobiandottest.hpp
  - jacobiandoubletests.cpp
  - jacobiandoubletests.hpp
  - jacobianframetests.cpp
  - jacobianframetests.hpp
  - jacobiantest.cpp
  - jacobiantest.hpp
  - jacobiantests.cpp
  - jacobiantests.hpp
  - kinfamtest.cpp
  - kinfamtest.hpp
  - rallnumbertest.cpp
  - rframestest.cpp
  - serialchaintest.cpp
  - solvertest.cpp
  - solvertest.hpp
  - test-runner.cpp
  - toolkittest.cpp
  - treeinvdyntest.cpp
  - treeinvdyntest.hpp
  - velocityprofiletest.cpp
  - velocityprofiletest.hpp
  - zxxzxztest.cpp
- cmake_uninstall.cmake.in
- CMakeLists.txt
- COPYING
- INSTALL.md
- manifest.xml
- orocos_kdl-config-version.cmake.in
- orocos_kdl-config.cmake.in
- orocos_kdl.pc.in
- package.xml
- rosdoc.yaml
- - conf.py
  - index.rst
- - dynamics.cpp
  - frames.cpp
  - framevel.cpp
  - kinfam.cpp
  - PyKDL.cpp
  - PyKDL.h
- - dynamicstest.py
  - framestest.py
  - frameveltest.py
  - kinfamtest.py
  - PyKDLtest.py
- CMakeLists.txt
- INSTALL.md
- package.xml
- pybind11
- rosdoc.yaml
.gitmodules
CHANGELOG.md
README.md

# Installation Guide

1. Get the code

git clone https://github.com/orocos/orocos_kinematics_dynamics

Downloads the entire project code from GitHub to your computer.

cd orocos_kinematics_dynamics

Moves into the project folder you just downloaded.

2. CMake

Medium Recommended

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

cd orocos_kdl

This project's files live in a subfolder, so move into it first.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).