RBDyn Examples

C++ examples to utilize RBDyn.

Dependencies

• Eigen3ToPython
• SpaceVecAlg
• RBDyn
• mc_rbdyn_urdf

Installation

Install by script

$ source install.bash

Install by manual

0. Install dependencies

$ sudo apt-get install git cmake pkg-config doxygen g++ libboost1.58-dev libboost1.58-all-dev libeigen3-dev libyaml-cpp-dev python-pip python2.7-dev make libtinyxml2-dev libnotify-bin -y

1. Install Eigen3ToPython

$ git clone --recursive https://github.com/jrl-umi3218/Eigen3ToPython.git
$ cd Eigen3ToPython
$ mkdir build
$ cd build
$ cmake .. -DPYTHON_BINDING_USER_INSTALL=ON
$ make -j`nproc`
$ sudo make install

2. Install SpaceVecAlg

$ git clone --recursive https://github.com/jrl-umi3218/SpaceVecAlg.git
$ cd SpaceVecAlg
$ mkdir build
$ cd build
$ cmake .. -DPYTHON_BINDING=ON -DPYTHON_BINDING_USER_INSTALL=ON
$ make -j`nproc`
$ sudo make install

3. Install RBDyn

$ git clone --recursive https://github.com/jrl-umi3218/RBDyn.git
$ cd RBDyn
$ mkdir build
$ cd build
$ cmake .. -DPYTHON_BINDING=ON -DPYTHON_BINDING_USER_INSTALL_DEFAULT=ON -DPYTHON_BINDING_USER_INSTALL=ON
$ make -j`nproc`
$ sudo make install

4. Install mc_rbdyn_urdf

$ git clone --recursive https://github.com/jrl-umi3218/mc_rbdyn_urdf.git
$ cd mc_rbdyn_urdf
$ mkdir build
$ cd build
$ cmake .. -DPYTHON_BINDING=ON -DPYTHON_BINDING_USER_INSTALL=ON
$ make -j`nproc`
$ sudo make install

5. Export environment argument

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

6. Build RBDyn_example

$ cd rbdyn_examples
$ source compile.bash

Usage

To Execute examples

$ rbdynrun <TAB>

robot_config_example.cpp

$ rbdynrun robot_config_example

Just load the robot description from source code.

yaml_test.cpp

$ rbdynrun yaml_test

Just load YAML file from yaml/test.yaml

urdf_fk.cpp

$ rbdynrun urdf_fk

Load robot description from URDF file.
Then solve the FK and print the homogeneous matrix for each links in the world frame.

urdf_ik.cpp

$ rbdynrun urdf_ik

Load robot description from URDF file.
Then solve the IK and print the homogeneous matrix for each links in the world frame.

urdf_jacobian.cpp

$ rbdynrun urdf_jacobian

Load robot description from URDF file.
Then solve the FK and FV based on being set parameters.
After that, get the jacobians & velocities for each body (link).