Commit 2dac689a authored by Guilhem Saurel's avatar Guilhem Saurel
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README: update format & use robotpkg

parent 2ce4dc48
# HQP
Library for hierarchichal quadratic programming
##Characteristics:
- Computes HQP based on nulsspace projections and quadritc programming using qpOASES and scipy.
- It can be used for generation motion of anthromorphic systems such as robots and avatars.
##Setup:
```json
$ python setup.py --prefix='your install path'
## Characteristics:
- Computes HQP based on nulsspace projections and quadritc programming using qpOASES and scipy.
- It can be used for generation motion of anthromorphic systems such as robots and avatars.
## Setup:
```
$ python setup.py --prefix='your install path'
```
## Required Dependencies:
##Required Dependencies:
- Python 2.7, numpy, scipy, matplotlib:
```json
$ sudo apt-get install python-numpy python-scipy python-matplotlib
- Python 2.7, numpy, scipy, matplotlib:
```
$ sudo apt-get install python-numpy python-scipy python-matplotlib
```
- Cython: c-extensions for python
```json
$ sudo pip install cython
```
- qpOASES: https://github.com/GaloMALDONADO/qpOASES
```json
$ git clone https://github.com/GaloMALDONADO/qpOASES
$ mkdir build && cd build
$ cmake [OPTIONS]
$ make install
$ cd .. && make python
$ cd interfaces/python && python setup.py [OPTIONS]
$ sudo pip install cython
```
- robotpkg: http://robotpkg.openrobots.org/debian.html ; it will allow you to get:
- qpOASES:
- Pinocchio: library for rigid multi-body dynamics.
- Gepetto-viewer: A graphical interface for pinocchio.
- Gepetto-viewer-corba: CORBA server/client for the Graphical Interface of Pinocchio.
```
$ sudo apt-get install robotpkg-py27-pinocchio robotpkg-qpoases+doc robotpkg-gepetto-viewer-corba
```
- Pinocchio: library for rigid multi-body dynamics. Can be download from here: http://stack-of-tasks.github.io/pinocchio/
- Gepetto-viewer: A graphical interface for pinocchio. Can be downloaded from here: https://github.com/GaloMALDONADO/gepetto-viewer
- Gepetto-viewer-corba: CORBA server/client for the Graphical Interface of Pinocchio. Can be downloaded from here: https://github.com/GaloMALDONADO/gepetto-viewer-corba
## Extra Dependencies:
##Extra Dependencies:
- Models: Contains biomechanical and robotic models. Can be downloaded from here: https://github.com/GaloMALDONADO/Models
- Models: Contains biomechanical and robotic models. Can be downloaded from here: https://github.com/GaloMALDONADO/Models
- gmp: free library for arbitrary precision arithmetic, operating on signed integers, rational numbers, and floating-point numbers.
```json
$ sudo apt-get install libgmp3-dev
```
- pycddlib: the simplest way to install is with pip:
```json
$ pip install pycddlib
$ sudo apt-get install libgmp3-dev
```
- pycddlib: the simplest way to install is with pip:
```
$ pip install pycddlib
```
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