rbdlpy
Setup
To compile this package, it is recommended to create a separate build directory:
mkdir _build
cd _build
cmake [OPTIONS] ..
make install
Please note that CMake produces a CMakeCache.txt file which should
be deleted to reconfigure a package from scratch.
Dependencies
The matrix abstract layer depends on several packages which have to be available on your machine.
- Libraries:
- eigen3
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
- Python 2.7
- Boost python
Unit tests
In the /unittest folder, one can find unit tests for each module of RBDL. For example, kinematics.py demonstrates the functionality of Kinematics module of RBDL using Python.
Tutorials
In the /python folder, there are certain tutorials to demonstrate the ability of RBDLPY. For example, FDTest.py demonstrate how to simulate the forward dynamics of a double pendulum system defined using Python. The tutorials are self explanatory and commented properly.