eigen-qld

eigen-qld provides an interface to use the QLD QP solver with the Eigen3 library.

Installing

Ubuntu 14.04 and 16.04 binary ppa install

Use the multi-contact-unstable ppa:

sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install eigen-qld

Homebrew OS X install

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install eigen-qld

Manually build from source

Dependencies

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++
• gfortran (-DUSE_F2C=OFF)
• gcc (-DUSE_F2C=ON)
• Boost >= 1.49
• Eigen >= 3.2

Building

git clone --recursive https://github.com/jrl-umi3218/eigen-qld
cd eigen-qld
mkdir _build
cd _build
cmake [options] ..
make && make intall

Where the main options are:

• -DCMAKE_BUIlD_TYPE=Release Build in Release mode
• -DCMAKE_INSTALL_PREFIX=some/path/to/install default is /usr/local
• -DUNIT_TESTS=ON Build unit tests.
• -DUSE_F2C=ON Build with fortran source code translated in C (slower runtime).

Pulling git subtree

To update cmake directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash

git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .jrl-ci git://github.com/jrl-umi3218/jrl-travis.git master --squash