Copyright (C) Tomomichi Sugihara (Zhidao) since 1998
RoKi is a software library for robot kinetics computation including:
- forward kinematics
- velocity and acceleration analysis
- inverse dynamics
- inverse kinematics
- forward dynamics
- collision detection and contact dynamics
It facilitates on-line robot controls as well as off-line robot motion analyses, plannings and simulations.
ZEDA, ZM and Zeo are required to be installed.
Install ZEDA, ZM and Zeo in advance.
Move to a directly under which you want to install RoKi, and run:
% git clone https://github.com/zhidao/roki.git
% cd roki
Edit PREFIX in config file if necessary in order to specify a directory where the header files, the library and some utilities are installed. (default: ~/usr)
- header files: $PREFIX/include/roki
- library file: $PREFIX/lib
- utilities: $PREFIX/bin
Then, make and install.
% make && make install
Do:
% make uninstall
which removes $PREFIX/lib/libroki.so and $PREFIX/include/roki.
When you want to compile your code test.c, for example, the following line will work.
% gcc `roki-config -L` `roki-config -I` test.c `roki-config -l`