Copyright (C) 2008-2011 The Board of Trustees of The Leland Stanford Junior University. All Rights Reserved.
This program is free software: you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License
as published by the Free Software Foundation, either version 3 of
the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.The Whole-Body Control framework developed at the [Stanford Robotics and AI Lab][] provides advanced control for human-centered robotics and mobile manipulation. This project provides a framework for developing robot behaviors that use operational-space hierarchical task decompositions, based on the work of many contributors over many years, under the guidance of and in collaboration with [Oussama Khatib][]: most notably Jaeheung Park, K. C. Chang, Diego Ruspini, Roy Featherstone, Bob Holmberg, François Conti, [Roland Philippsen][] and Luis Sentis.
Clone our GIT repository...
git clone git://github.com/poftwaresatent/stanford_wbc.git...or grab a tarball from Sourceforge: the download area contains official releases.
The dependencis are:
After you cloned our repos, or downloaded and unpacked a release, go into the top-level source directory and build it:
mkdir build
cd build
cmake ..
makeThere are CMake variables that influence the configure step. They get
passed to cmake using its -DVARIABLE=VALUE command-line
syntax. Note that reasonable guesses are made according to your
operating system, but if you have installed some dependencies in
non-standard locations, you will have to tell CMake where to find
them.
| variable name | meaning | example |
|---|---|---|
EIGEN2_DIR |
Path where the Eigen matrix library is installed. This will end
up adding several directories to the header search path:
EIGEN2_DIR itself, EIGEN2_DIR/include,
EIGEN2_DIR/eigen2, and
EIGEN2_DIR/include/eigen2. Note that CMake will fail
with an error message if it cannot find Eigen2, and you
have to clear its cache before reconfiguring with a
different EIGEN2_DIR setting. The easiest way to
achieve that is to remove the entire build directory. |
If you installed Eigen2 underneath /home/toto/eigen2,
then you have to pass -DEIGEN2_DIR=/home/toto/eigen2
to the CMake command. |
We use the Google Testing Framework (included in the
3rdparty subdirectory). At the time of writing, we provide the
following test programs. Also note that there is a runtests.sh
script in the top-level project directory, which you can run from
within the build directory by issuing ../runtests.sh (assuming that
your build directory is one level below the top-level source
directory, as implied in this README).
Basic (very basic) tests for the TAO dynamics engine are available by running:
./tao/testTAOA fairly complete suite of unit tests for the joint-space dynamics model (which is built on TAO) is available by running:
./jspace/tests/testJspaceA budding collection of semi-functioning unit tests for the operational-space control library is available by running:
./opspace/tests/testTaskA quick test of the mechanism that builds controllers from YAML files:
./opspace/tests/testFactoryIf any of these tests fail, there is a regression that should be
fixed. Please let us know via our Issue Tracker or
sending an email to stanford-wbc-users@lists.sourceforge.net
If you have Doxygen then you can generate code documentation for
the various sub-projects. There is a little rundox.sh script in the
jspace/doc, opspace/doc, and tao/doc subdirectories (look for the same pattern
in other parts of the project as well, we might forget to update this
README file when adding sub-projects and documentation).
cd /path/to/stanford_wbc/jspace/doc
./rundox
then open html/index.html in a web browser