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.
Download: download instructions will be published soon
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.
You can find the documentation of ORCISIR in Joseph Salini's pages.
Those pages may not be updated regularly, so we suggest you to build your own doc locally.
You can compile the documentation locally on your machine using doxygen.
In Linux, check that it is installed on your machine
sudo apt-get install doxygen doxygen-gui
There is now a little trick to do. Inside the folder $ORCISIR_ROOT/doc there is a style file called salini_commands.sty. This file is used to generate the equations in the doxygen pages, so you need it to generate the documentation ^^ You will need to add it in the tree of your tex distribution. In Ubuntu you can do:
cd $ORCISIR_ROOT/doc sudo mkdir /usr/share/texmf/tex/latex/salini_commands sudo cp salini_commands.sty /usr/share/texmf/tex/latex/salini_commands/salini_commands.sty sudo texhash .
Depending on if you have also TexLive installed, you may need to do this:
sudo gedit /etc/texmf/texmf.d/05TeXMF.cnf
Then add the path of the folder where you have the style file:
% The main distribution tree: TEXMFDIST = /usr/share/texmf-texlive;/home/icub/software/src/orcisir_ISIRController/doc
sudo update-texmf && sudo texhash && sudo mktexlsr
You're no ready to compile the documentation. Run the doxwizard:
Follow the instructions. You need to indicate the folder where is your code, select $ORCISIR_ROOT for that, and ORCISIR_ROOT/build as the place where your doc will be built. Click "run" and you'll have the doc in ORCISIR/build/doc/html.