/lib_math

A mathematics extension library designed for robot kinematics based on Eigen.

Primary LanguageC++

lib_math

This library is a mathematics extension library primarily designed for robot kinematics. And this library is based on Eigen.

The library will be updated continuously.

Requirement

  • Linux / Mac OS system platform.
  • Eigen library should be installed before <make&install> this library.

How to use?

Download this library from github.

git clone https://github.com/wlfrii/lib_math.git

Before <make&install> this library, open the lib_math/CMakeList.txt file and find the command as follows, and then comment these lines.

if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
    set(CMAKE_INSTALL_PREFIX 
        ${REPO_ROOT}/buildtarget/ CACHE PATH "repo root" FORCE
    )
endif()
The command line above is used to install the library in a relative path, so that the library can be easy to manage in my program.

After comment the command lines, do the <make&install> as follows.

cd lib_math
mkdir build
cd build
cmake ..
make -j
sudo make install

Then you can use this library in your project by adding the following commands in your CMakeLists.txt.

find_package(lib_math REQUIRED)
...
target_link_libraries(${PROJECT_NAME} PUBLIC
    ${lib_math_LIBRARIES}
)

The library could then be used by only including the following header file in your source file.

#include <lib_math/lib_math>

Note, all the interfaces are defined in mmath{} namespace.

Interfaces Manual

See the interfaces manual from./doc/lib_math_doc.html.