🤖 RobotLibrary

RobotLibrary is a C++ library for modeling and control of robots arms.

It is an ongoing project and we hope to add more features as time goes on.

Contents:

• Installation Instructions
  • Installing Eigen
  • Installing RobotLibrary
  • Using RobotLibrary in Another Project
• Sections of the Library
  • Control
  • Math
  • Model
  • Trajectory

Installation Instructions

Installing Eigen:

RobotLibrary requires the Eigen libraries for linear algebra. If you're using Linux you can install it from the command line:

sudo apt install libeigen3-dev

Otherwise you can go to the Eigen main page to see how you can install it.

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Installing RobotLibrary:

1. Clone this repository in to your working directory:

   git clone https://github.com/Woolfrey/software_robot_library.git

2. Navigate in to the folder:

   cd ~/<your_working_directory>/software_robot_library

3. Create a build directory and navigate in to it:

   mkdir build && cd build

4. Run the following commands in the build directory:

   cmake ..

   sudo make install

You should now be able to include different parts of the library in your C++ files.

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Using RobotLibrary in Another Project:

When using RobotLibrary classes in another project, it is necessary to link both Eigen and RobotLibrary when compiling executables. For example, we may want to use the KinematicTree class in the example.cpp of the following example project:

example_project/
├── CMakeLists.txt
├── build/
└── src/
    └── example.cpp

In the example.cpp file we can include the KinematicTree header file under RobotLibrary:

#include <RobotLibrary/KinematicTree.h>
...
int main(int argc, char **argv)
{
     KinematicTree model("path/to/robot.urdf");
}

Then, in the CMakeLists.txt file, we must:

1. Tell the compiler to find both Eigen3 and RobotLibrary, and
2. Link RobotLibrary and Eigen3 to the executable that uses any RobotLibrary classes:

cmake_minimum_required(VERSION 3.8)
project(example)
...
find_package(Eigen3 REQUIRED)
find_package(RobotLibrary REQUIRED)

include_directories(${EIGEN3_INCLUDE_DIR}) 
...
add_executable(example src/example.cpp)
target_link_libraries(example RobotLibrary::RobotLibrary Eigen3::Eigen)

Inside the example_project/build folder it should be possible to compile the project:

cmake ..
make

This repository has some simple test code that demonstrates the use of different classes.

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