Installing Moby

Architecture

• Linux is the officially supported OS.
• Moby works on OS X if you can get OpenSceneGraph installed (or do not care to use Moby's rendering tools)
• Moby is not supported on Windows (and, anecdotally, is difficulty to install)

Installing Moby on Debian/Ubuntu from binaries

Moby uses Ravelin to ensure correctness of kinematics and dynamics computations through frame checking (ensuring that quantities are defined in identical frames before performing arithmetic on them). Before installing Moby, install Ravelin first.

Then, add ppa gwu-positronics/moby to your software sources, update, and install Moby:

$ sudo add-apt-repository ppa:gwu-positronics/moby
$ sudo apt-get update
$ sudo apt-get install moby

Installing Moby from source

The following packages are required for building from source:

• cmake
• libqhull-dev
• libxml2-dev
• liblapack3-dev
• libatlas-dev
• libopenscenegraph-dev
• libboost-dev

$ sudo apt-get install cmake libqhull-dev libxml2-dev liblapack3-dev libatlas-dev libopenscenegraph-dev libboost-dev

Install Ravelin

Before installing Moby, install Ravelin first.

Download the source code

You can then download the source from Github. We ensure that the standard (master) branch builds and works at (nearly) all times:

$ git clone https://github.com/PositronicsLab/Moby
$ cd Moby

Configure and build

Now install Moby from source using a standard CMake process (i.e., create a build directory, run cmake, then make, then make install):

Moby $ mkdir build
Moby $ cd build/
Moby/build $ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo 
Moby/build $ make
Moby/build $ sudo make install

Optional packages when building from source

• boost odeint This package will allow one to use advanced integrators from the Boost library

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