RoKi-FD - Robot Simulation library
Copyright (C) 2018 Tomomichi Sugihara (Zhidao)
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RoKi-FD is a software library for robot forward dynamics simulation including:
- contact force computation
- joint friction computation
ZEDA, ZM, Zeo and RoKi are required.
git clone https://github.com/n-wakisaka/roki-fd
- Enter the directory.
cd roki-fd
- Edit config file if necessary.
-
PREFIX
directory where the library is installed. ~/usr as a default. In this case, header files and library are installed under ~/usr/include and ~/usr/lib, respectively.
- Make it.
make
- Install it.
make install
Or,
cp -a lib/libroki-fd.so $PREFIX/lib/
cp -a include/roki $PREFIX/include/
cp -a bin/* $PREFIX/bin/
1.Uninstall it
make uninstall
Or,
delete $PREFIX/lib/libroki-fd.so, $PREFIX/include/roki-fd/roki-fd.h and $PREFIX/include/roki-fd/rkfd*.h.
You may need to set your PATH and LD_LIBRARY_PATH environment variables.
This is done by:
export PATH=$PATH:$PREFIX/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$PREFIX/lib
if your working shell is Bourne shell (bash, zsh, etc.),
or by:
set path = ( $path $PREFIX/bin )
setenv LD_LIBRARY_PATH $LD_LIBRARY_PATH:$PREFIX/lib
if your working shell is C shell (csh, tcsh, etc.).
When you want to compile your code test.c, for example, the following line will work.
gcc `roki-fd-config -L` `roki-fd-config -I` test.c `roki-fd-config -l`
Following people contributed to this library:
- Naoki Wakisaka (naoki.wakisaka@ams.eng.osaka-u.ac.jp)