This repo contains core sources related to Robotic AI. First users are not recommended to use this repo alone. Please have a look at example projects that use this bare code as a submodule and expose and explain one particular functionality. The first example projects to come are: KOMO & LGP.
'bare code' means that this repo contains only sources and a minimal Ubuntu-specific build system, but no examples and only minimal tests. Embedding projects provide examples and more thorough testing. For integration in other projects, use it as a submodule and integrate it in your own out-of-source build system.
Parts of the code have there origin at around 2004 (Edinburgh). The code grew over the years to a large repo with many projects from all lab members, but a somewhat consistent scope of code shared between projects. This repo exports a selection of the code shared between projects and contains a set of representations and methods for Robotics, ML and AI. As the functionality is diverse I don't even try to explain. The example projects will hopefully demonstrate it.
git clone git@github.com:MarcToussaint/rai.git
# OR, if you don't have a github account:
git clone https://github.com/MarcToussaint/rai.git
cd rai
# OPTIONAL! Often you will only need to compile some components and don't need all Ubuntu packages
make -j1 printUbuntu # to just print Ubuntu package dependencies per component
make -j1 initUbuntuPackages # calls sudo apt-get install; you can always interrupt
cp build/config.mk.default build/config.mk # edit this to modify dependencies or debug mode
make runTests # compile and run the essential tests
make bin # compile rai/bin/kinEdit and similar
make # to compile all components (rarely necessary)
If interested in the kinematics part, check rai/Kin/kin.h and test/Kin/* to get started.