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biped-kinematics's Introduction

Biped Kinematics code

シリアルリンクとパラレルリンクの**学プログラム IKはNR法とLM法を実装

動作環境

・Ubuntu16.04

・gnuplot ( Version 5.0.5 )

・cmake version 2.8.12.2

セットアップ

・Install

1.必要なパッケージのインストールを行う.( cmake は略. バージョン2.8.12を入れてください )

get boost & eigen
sudo apt-get update
sudo apt install libboost-all-dev libeigen3-dev
・get gnuplot-5.0.5
wget http://sourceforge.net/projects/gnuplot/files/gnuplot/5.0.5/gnuplot-5.0.5.tar.gz
tar zxvf gnuplot-5.0.5.tar.gz
・build & install
cd gnuplot-5.0.5
./configure --with-readline=gnu
make -j 4
sudo make install

環境変数の設定

/etc/environmentに必要な環境変数を追加

sudo vi /etc/environment

内部に以下の行を追加し保存

EIGEN3_INCLUDE_DIR="/usr/include/eigen3"

Ubuntuを再起動

sudo reboot

・Setting

gnuplot
set terminal qt

・Smaple

usr: ~/biped-kinematics$
cmake .
make 
make install

./biped

biped-kinematics's People

Contributors

akira794 avatar

Watchers

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biped-kinematics's Issues

hoge

サイズ(パラメータの範囲は)

\ range step width pattern
x_target -300 mm ~ 300 mm 10 mm 61
cog_x -60 mm ~ 60 mm 3 mm 41
vel_x -400 mm/s ~ 400 mm/s 20 mm/s 41

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