Author/Maintenance: Dominik Belter
This is the part of the Walkers library related to constraints modeling and evaluation using Gaussian Mixtures.
Installation instruction was tested on Ubuntu 18.04 operating system.
The clone_deps.sh script installs all required software from repositories, clones requires libraries and compiles them:
$ mkdir ~/Sources
$ cd ~/Sources
$ git clone https://github.com/LRMPUT/constraintsGM
$ mkdir ~/Libs
$ cd ~/Sources/constraintsGM
$ ./scritps/clone_deps.sh
Run ./demoVisualizer to visualize the robot:
$ cd ~/Sources/constraintsGM/build/bin
$ ./demoVisualizer
Run ./robotModelGM to create GM model of the robot (kinematic margin and self-collisions):
$ cd ~/Sources/constraintsGM/build/bin
$ ./robotModelGM
[1] Dominik Belter, Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-legged Walking Robots, 2019