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Installation

If you need more information you can also check the dockerfile here

Create an installation directory

cd ~
mkdir install

yaml-cpp

sudo apt-get install libyaml-cpp-dev

boost-program-options-dev

sudo apt-get install libboost-program-options-dev

assimp 5.0

git clone --depth 1 https://github.com/assimp/assimp.git
cd assimp
git checkout v5.0.0
mkdir build
cd build
cmake ..
make -j$(nproc)
sudo make install
make clean

pinocchio

More information on pinnochio here

git clone --recursive https://github.com/stack-of-tasks/pinocchio
cd pinocchio
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='/home/$USERNAME/install' -DCMAKE_PREFIX_PATH='/home/$USERNAME/install' -DBUILD_PYTHON_INTERFACE=OFF ..
make -j$(nproc)
sudo make install

tsid

Install eiquadprog first

git clone --recursive https://github.com/stack-of-tasks/eiquadprog.git
sed -i '/#define TRACE_SOLVER/c\//#define TRACE_SOLVER' eiquadprog/src/eiquadprog-fast.cpp
cd eiquadprog
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='/home/$USERNAME/install' -DCMAKE_PREFIX_PATH='/home/$USERNAME/install' ..
make -j$(nproc)
sudo make install

Install tsid

cd /home/$USERNAME
git clone  --recursive https://github.com/stack-of-tasks/tsid.git
cd tsid
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='/home/$USERNAME/install' -DCMAKE_PREFIX_PATH='/home/$USERNAME/install' -DBUILD_PYTHON_INTERFACE=OFF ..; \
make -j$(nproc)
sudo make install

robot_dart

Use this installation-guide without the -DDART_ENABLE_SIMD=ON for the dart installation

(If you install with -DDART_ENABLE_SIMD=ON make sure that everything is installed with SIMD instructions / -march=native flag)

Install dart in ~/install following :

./waf configure --dart=~/install --corrade_install_dir=~/install --magnum_install_dir=~/install --magnum_integration_install_dir=~/install --magnum_plugins_install_dir=~/install --prefix=~/install
./waf
./waf install

inria_wbc

git clone https://github.com/resibots/inria_wbc.git
cd inria_wbc
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX='~/install' -DCMAKE_PREFIX_PATH='~/install' ..
make
sudo make install