TSID is C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio. Take a look at the project wiki for more details.
- boost (unit_test_framework)
- eigen3
- pinocchio
To install eigen3 on Ubuntu you can use apt-get:
sudo apt-get install libeigen3-dev
To install pinocchio follow the instruction on its website.
cd $DEVEL/openrobots/src/
git clone --recursive git@github.com:stack-of-tasks/tsid.git
cd tsid
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install
To use this library in python, we offer python bindings based on Boost.Python and EigenPy.
To install EigenPy you can compile the source code:
git clone https://github.com/stack-of-tasks/eigenpy
or, on Ubuntu, you can use apt-get:
sudo apt-get install robotpkg-py27-eigenpy
For testing the python bindings, you can run the unit test scripts in the script folder, for instance:
ipython script/test_formulation.py
To run the demo using gepetto-viewer:
ipython demo/demo_romeo.py