isorrentino/bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

bipedal-locomotion-framework

The BipedalLocomotionFramework project is a suite of libraries for achieving bipedal locomotion on humanoid robots.

Overview

• 📙 Exported components
• 📄 Dependencies
• 🔨 Build the suite
• 🏃 How to use the libraries
• 📚 Doxygen documentation

📙 Exported components

• BipedalLocomotion::Framework: It is an interface library that gathers all the exported components, includable with the file BipedalLocomotion/Framework.h ^1!.
• BipedalLocomotion::GenericContainer: Utilities library which include a data structure similar to span but resizable. It can be used to "map" vector-type data structures.
• BipedalLocomotion::YarpUtilities: Utilities library for retrieving data and from YARP structures
• BipedalLocomotion::ParametersHandler: Library for retrieving parameters from configuration files and not only
• BipedalLocomotion::CommonConversions: Library for common conversion utilities used in the framework
• BipedalLocomotion::ManifConversions: Library for manif library related conversion utilities used in the framework
• BipedalLocomotion::Estimators: Library containing observers
• BipedalLocomotion::FloatingBaseEstimators: Library containing floating base estimators
• BipedalLocomotion::Planner: Library containing planner useful for locomotion
• BipedalLocomotion::RobotInterface: Library containing generic interface classes to adapt to various IO data formats

📄 Dependencies

The BipedalLocomotionFramework project is versatile and it can be used to compile only some components. Each component has its own dependencies that can be found in BipedalLocomotionFrameworkFindDependencies.cmake file. Please note that the indicated version is the the minimum required version.

• YarpUtilities requires:

  • For using it:
    • iDynTree (version 0.11.105)
    • YARP
  • For testing:
    • Catch2

• ParametersHandler requires:

  • For compiling the YARP specialization of the ParametersHandler:
    • YARP
  • For testing:
    • Catch2

• ManifConversions require:

  • For using it:
    • iDynTree (version 0.11.105)
    • manif
  • For testing:
    • Catch2

• Estimators require:

  • For using it:
    • iDynTree (version 0.11.105)
    • ParametersHandler
  • For testing:
    • Catch2
    • YARP

• FloatingBaseEstimators require:

  • For using it:
    • iDynTree (version 0.11.105)
    • ParametersHandler
    • manif
  • For testing:
    • Catch2
    • YARP

• Planner requires:

  • For using it:
    • iDynTree (version 0.11.105)
    • Qhull (version 8.0.0)
  • For testing:
    • Catch2

• RobotInterface requires:

  • For using it:
    • ParametersHandler
  • For testing:
    • Catch2

🔨 Build the suite

Linux/macOS

git clone https://github.com/dic-iit/bipedal-locomotion-framework.git
cd bipedal-locomotion-framework
mkdir build && cd build
cmake ../
make
[sudo] make install

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX. In this case it is necessary to add in the .bashrc or .bash_profile the following lines:

export BipedalLocomotionFramework_INSTALL_DIR=/path/where/you/installed/

🏃 How to use the libraries

bipedal-locomotion-framework provides native CMake support which allows the library to be easily used in CMake projects.

bipedal-locomotion-framework exports the CMake targets presented in Exported components section. The targets can be imported using the find_package CMake command and used by calling target_link_libraries.

📚 Doxygen documentation

Here you can find the documentation.

1!⚠️ Including BipedalLocomotion/Framework.h may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the IWYU paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project, e.g. BipedalLocomotion::Estimators. ↩