Kindr - Kinematics and Dynamics for Robotics

Autonomous Systems Lab ETH Zurich

Contact : Christian Gehring [gehrinch ( at ) ethz.ch]

Author(s): Michael Bloesch, Remo Diethelm, Peter Fankhauser, Paul Furgale, Christian Gehring, Hannes Sommer

Date : 08-Aug-2013

DOCUMENTATION

Online

Impatient individuals can directly download the cheat sheet.

See also section 'Building the documentation' below.

REQUIREMENTS

Linux

GCC 4.7 is required at the minimum.

INSTALLATION

Building the library:

Build the library with CMake:

kindr$ mkdir build
kindr$ cd build
kindr$ cmake ..
kindr$ make
kindr$ sudo make install

Building the documentation:

Doxygen needs to be installed to create the documentation.

Build the documentation with doxygen:

kindr$ mkdir build
kindr$ cd build
kindr$ cmake ..
kindr$ make doc

The doxygen documentation can be found here:

kindr$ doc/doxygen/doc/html/index.html

Building google tests

GTests are built as soon as the folder gtest exists in the root folder.

Download and use GTest:

kindr$ wget http://googletest.googlecode.com/files/gtest-1.7.0.zip
kindr$ unzip gtest-1.7.0.zip
kindr$ ln -s gtest-1.7.0 gtest
kindr$ mkdir build
kindr$ cd build
kindr$ cmake -DBUILD_TEST=true ..
kindr$ make