Dependencies: Qt 4 (including qmake) Build Instructions: Get the source: If you have a Github account: git clone git@github.com:jhurobotics/Trinity.git If you do not (you will not be able to push): git clone git://github.com/jhurobotics/Trinity.git Setup the build: cd Trinity mkdir build cd build qmake ../sim.pro Alternately, you can open the sim.pro file with QtCreator, and build from there. The Xcode project may or may not be up to date. Build: make The resulting product is named sim. Running Instructions: Run sim. The first window is the setup window. Choose the robot configuration (from the robots directory), the sensor library (probably the sensors directory), and the current map (from the maps directory). Other stuff you might need to know: The current step size of the simulation is 0.1s. The units used are centimeters, seconds, and radians. Forwards is along the positive x axis.