loco-3d / timeopt

Time-Optimization for loco-3d

This is module of time-optimization by B. Ponton for using loco-3d framework.

• Install Procedure To use this in Ubuntu 14.04 and 16.04

  (1) Download and intstall the original time-optimization.

   git clone https://git-amd.tuebingen.mpg.de/bponton/timeoptimization
      cd timeoptimization
      ./src/catkin/third_party/catkin/bin/catkin_make
      source ./devel/setup.bash
  

  (2) Download and intstall the python binding module for time-optimization

       git clone https://github.com/ggory15/timeopt --recursive
       mkdir build && cd build
   	cmake .. -DCMAKE_BUILD_TYPE=RELEASE
   	make install
      
       To complie this, the binary of the original time-optimization of step#1 is required.
       (In Cmakelists, you can see ADD_REQUIRED_DEPENDENCY("momentumopt"))
  

  (3) Run Script

       ipython /script/biding_test.py