spot_micro_kinematics_cpp - ESP_DSP

A c++ library for kinematic operations on a spot micro quadruped

Ported for ESP platform, and implemented using ESP_DSP Use the library as a ESP-IDF component.

Requirement

ESP-DSP component: https://github.com/espressif/esp-dsp.git

Component

Create component with CMakeLists.txt as below

idf_component_register(SRCS spot_micro_kinematics_cpp/src/spot_micro_kinematics.cpp spot_micro_kinematics_cpp/src/spot_micro_leg.cpp spot_micro_kinematics_cpp/src/utils.cpp
                  INCLUDE_DIRS spot_micro_kinematics_cpp/include
                  PRIV_REQUIRES esp-dsp)

checkout the reposity under the ESP-IDF component folder (eg: /components/kinematics/spot_micro_kinematics_cpp)