# Code Base for ICRA 2016 Autonomous Suturing Project ## Installation Guide: 1. Clone the suturing code base into a directory: `git clone https://siddarthsen@bitbucket.org/siddarthsen/icra2016_suturing.git` 2. Add the folder with subfolders to the matlab path 3. External libraries are used to handle meshes. Clone the gptoolbox and add with subfolders to the matlab path: `git clone https://github.com/alecjacobson/gptoolbox.git` 4. The signed distance function uses a C++ method and require compilation. Use homebrew to install Eigen. Note additional dependencies like cmake, boost, and cgal should be automatically installed if necessary. `brew install eigen` 5. libigl is a header only library that is necessary to during compilation. It needs to be cloned into `usr/local/igl`. `cd /usr/local ` `mkdir igl` `cd igl` `git clone https://github.com/libigl/libigl.git` 6. At the current moment only signed_distance.cpp can be compiled. Please modify the gptoolbox Mex file so that only signed_distance.cpp is compiled. If namespace errors occur during compile, modify signed_distance.cpp as necessary (usually add `igl::matlab::` to function calls until the errors go away.)