The optimizer (NLP, QP) for foothold positions and body trajectory for a quadruped robot.
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Eigen
$ sudo apt-get install libeigen3-dev
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Ipopt/Snopt. For this it's best to see the appropriate repos:
$ git clone https://bitbucket.org/adrlab/ipopt.git
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xpp_common
$ git clone [email protected]:adrlab/xpp_common.git
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(Optional) Google unit test framework
$ sudo apt-get install libgtest-dev # download headers and sources $ cd /usr/src/gtest $ sudo cmake CMakeLists.txt $ sudo make # build library $ sudo cp *.a /usr/lib # copy libgtest.a and libgtest_main.a to your /usr/lib folder
You must set the environmental variable 'IPOPT_DIR' to point to the Ipopt Installation.
$ export IPOPT_DIR=~/3rd_party_software/ipopt
Alexander W. Winkler ([email protected])