osik-control - Operational Space Inverse Kinematics Control

Introduction

osik-control is a C++ library that allows to generate whole-body motion for multi-articulated robots using inverse kinematics. It is based upon the Rigid Body Dynamics Library (RBDL).

Setup: Building and Installation

The osik-control library uses qpOASES to solve QPs. Since qpOASES does not provide a pkg-config file, before compiling, please indicate the prefix that was used when installing qpOASES:

export qpOASES_INSTALL_PREFIX=/prefix/to/qpoasis/installation

The osik-control library is built using CMake. To compile the library in a separate directory use:

mkdir build
cd build/
cmake .. -DCMAKE_INSTALL_PREFIX=your_prefix
make

where your_prefix is the path where the library will be installed. Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch. To install the library use:

make install

The documentation is contained in the code and can be extracted using doxygen. To generate it, use:

make doc

This will generate documentation in build/doc/doxygen-html. To see it, launch index.html with your favorite browser.

Dependencies

The osik-control library depends on the following libraries which have to be available on your machine.

• Libraries:
  • rbdl (with urdf support)
  • qpOASES
  • Eigen (>=3.2)
• System tools:
  • CMake (>=2.8)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)