[组件] KDL - 运动学与动力学库
前言
属于 orocos 欧洲项目的成果之一, 可以进行正逆运动学计算
目录
[组件] KDL - 运动学与动力学库
前言
目录
参考
学习记录
安装
build with ROS
修改相关源代码
build with cmake
CMake 构建示例程序!
下期预告
参考
- wiki page http://www.orocos.org/kdl
- user manual http://www.orocos.org/kdl/user-manual
- KDL examples http://www.orocos.org/kdl/examples
- Makefile include eigen
- g++ link library
- CMake to include eigen https://forum.kde.org/viewtopic.php?f=74&t=94166
- CMake finder
学习记录
安装
- build with ROS
- * sudo apt-get install libeigen2-dev
- * sudo apt-get install ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl
- * sudo apt-get install ros-indigo-rtt-ros-integration
修改相关源代码
sudo cp -r Eigen /usr/local/include/
为了使 Eigen 能够被 include
不知道为啥, 始终无法链接成功, 不断修改 makefile, 使用 - l -L 参数都不行, 还是使用源码单独编译使用吧.
- build with cmake
- Git clone https://github.com/orocos/orocos_kinematics_dynamics.git
然后最终并没有成功编写 Makefile 编译通过示例程序, 我感受到了 orocos 深深的恶意, 最后决定用 CMake 试一试!
CMake 构建示例程序!
一次性搞定!
- cmake_minimum_required(VERSION 2.8.3)
- project(kdl_beginner)
- set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
- # find packages
- find_package(Eigen3 REQUIRED)
- find_package(orocos_kdl REQUIRED)
- # include dirs
- include_directories(${Eigen3_INCLUDE_DIRS}
- ${orocos_kdl_INCLUDE_DIRS})
- add_executable(Forward-kinematic-chain-example src/Forward-kinematic-chain-example.cpp)
- target_link_libraries(Forward-kinematic-chain-example ${Eigen3_LIBRARIES} ${orocos_kdl_LIBRARIES} )
下期预告
基础理论
来源: http://www.bubuko.com/infodetail-3110649.html