Posture Generator (PG) is a library to compute kinematics tree inverse kinematics.

Dependencies

• C++ compiler with C++11 support
• Boost
• CMake
• Eigen 3
• RBDyn
• SpaceVecAlg
• roboptim-core
• sch-core

For Python bindings:

• Python 2 or 3
• PyBindGen

Install

mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=[your install prefix]
make
make install

Note: the usual install prefix is /usr, but it defaults to /usr/local.

If you generate Python bindings on Debian-based distributions (e.g. Ubuntu), you may want to choose the Debian layout for Python packages (e.g. /usr/lib/python2.7/dist-packages/) instead of the default one (e.g. /usr/lib/python2.7/site-packages/). If this is the case, add the -DPYTHON_DEB_LAYOUT=ON flag to the CMake command.

Pulling git subtree

To update sync cmake directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash