UPMC iCub project/Installing ORCISIR
ORCISIR is a framework for whole-body control of multibody systems developed in ISIR. It is based on ORC, a framework developed by CEA-list within the XDE for Optimal Control of Robots (ORC).
We hereby assume you have Ubuntu 12.04.
Go in the directory where you put ORCISIR (for example /home/icub/software/src/orcisir_ISIRController), let us call it $ORCISIR_ROOT. The installation is the usual:
cd $ORCISIR_ROOT mkdir build cd build ccmake .. make make install
If the installation is successful, ORCISIR will install
lib/pkgconfig/orcisir_ISIRController.pc lib/liborcisir_ISIRController.so include/orcisir/<HEADER_FILES_>
In our case, we install everything as usual in /home/icub/software, so we have:
/home/icub/software/lib/pkgconfig/orcisir_ISIRController.pc /home/icub/software/lib/liborcisir_ISIRController.so /home/icub/software/include/orcisir
To verify that the installation is successful, go into the directory "examples", compile and execute "test_3T":
cd $ORCISIR_ROOT/examples/test_3T mkdir build cd build ccmake .. make ./test_3T
If the program executes successfully and outputs the simulation then it's ok. Note that the program has only text-output, no graphics.