mmurooka / state-observation

Describes interfaces for state observers, and implements some observers (including linear and extended Kalman filters)

State-Observation

This software provides tools for running state observation for humanoid robots.

Installing

Ubuntu LTS (16.04, 18.04, 20.04)

# Make sure you have required tools
sudo apt install apt-transport-https lsb-release
# Add our key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806
# Add our repository (stable versions)
sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Use this to setup the HEAD version
# sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Update packages list
sudo apt update
# Install state-observation packages
sudo apt install libstate-observation-dev
# Install documentation
sudo apt install libstate-observation-doc

Manually build from source

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++ >= 4.7 (for C++11 support)
• Boost >= 1.49
• Eigen >= 3.2

Building

git clone --recursive https://github.com/jrl-umi3218/state-observation
cd state-observation
mkdir build
cd build
cmake [options] ..
make && make intall