Midterm Project

ENPM808X - Mudit Singal, Abhishekh Reddy and Abhimanyu Saxena

Project Status

Overview

Inverse Kinematics solver software package for a 6 degrees of freedom articulated arm. See Project Wiki to learn more.

Phase 1 video overview: Link
Phase 2 video overview: Link
Sprint Planning Sheet: Link
Sprint Plan and Review notes: Link

Setting up this project...

Get started

Clone this repository to your favorite directory

git clone https://github.com/armgits/808x-midterm.git Midterm

Switch to development branch for the latest yet unstable version if you wish to...

git checkout development

Create the build system

cmake -S ./ -B build/

Build the project

Build in either way:

Normal build

cmake --build build/

Clean build

cmake --build build/ --clean-first

Verbose build

cmake --build build/ --verbose

To use bear just prepend bear -- to either of the above two commands.

For example

bear -- cmake --build build/

Run the program

./build/app/klib-demo

Test the program

ctest --test-dir build/

Generate the documentation

Doxygen documentation is generated to the docs/ directory. Open index.html file in that folder to browse through the project.

cmake --build build/ --target docs

Clean up the project

Just clean the build artifacts while retaining the build system

cmake --build build/ --target clean

Remove the build system including the artifacts

rm -rf build/

Clean-up any other residual files and folders

rm -r .cache/ compile_commands.json

Contributing

Never directly modify the contents of the main branch. Always create a development branch in which you can contribute your changes.

git checkout -b <your-development-branch>

Note: Replace <your-development-branch> with a name you desire.

Commit messages should roughly be a sentence-two long and here's a template to follow:

Backlog <N.n.n> - <Your concise commit message>

Before pushing the changes, update your branch with the latest changes from the main branch. You can do this in two steps:

Switch to main branch and fetch the latest changes.

git checkout main && git fetch

Switch back to your development branch and merge the latest main branch. This does not delete your changes while updating your branch. Merge conflicts may occur sometimes and use the diff to resolve conflicts.

git checkout <your-development-branch> && git merge main

Now you can push your changes to your branch and create a pull request to merge your branch with the main branch.

armgits / 808x-midterm