【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
参考
wiki page
user manual
KDL examples
Makefile include eigen
g++ link library
CMake to include eigen
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