机器人运动学和动力学_C++_MATLAB_下载.zip

Kindr - Kinematics and Dynamics for Robotics ============================================= **Authors: Christian Gehring, C. Dario Bellicoso, Michael Bloesch, Remo Diethelm, Peter Fankhauser, Paul Furgale, Michael Neunert, Hannes Sommer<br /> Maintainer: Remo Diethelm, rdiethelm@anybotics.com<br /> Affiliation: [ANYbotics](https://www.anybotics.com/)** This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab). This work is conducted as part of [ANYmal Research](https://www.anymal-research.org/), a community to advance legged robotics. The source code is released under a [BSD 3-Clause license](LICENSE). ## Documentation [Online](https://opensource.docs.anymal.com/doxygen/kindr/master/index.html) Impatient individuals can directly download the [cheat sheet](https://opensource.docs.anymal.com/doxygen/kindr/master/cheatsheet_latest.pdf). See also section 'Building the documentation' below. ## Changelog ### Kindr 1.0.0 * Simplified header include `#include <kindr/Core>` is provided. * Kindr is now strongly dependent on Eigen. * All sub namespaces have been removed. (e.g. `kindr::rotations::eigen_impl` -> `kindr::`) * The implementations of rotations and time derivatives have been simplified (Passive, Hamiltonian). - Active typedefs (e.g. RotationQuaternionAD) have been removed and simpler ones (e.g. RotationQuaternionD) have been introduced. - Note that the functionality of some operators changed! Please check the [cheat sheet](https://opensource.docs.anymal.com/doxygen/kindr/master/cheatsheet_latest.pdf) to understand what is implemented. - Some hints on what needs to be changed from kindr 0.0.1: - `rotation.setFromVectors(v1, v2)` -> `rotation.setFromVectors(v2, v1)` - `C_BI.boxPlus(dt * B_w_IB)` -> `C_BI.boxPlus(dt * C_IB * B_w_IB)` - `C_BI.boxMinus(dt * B_w_IB)` -> `-C_BI.boxMinus(dt * B_w_IB)` - Euler angles probably have to be negated. * Conversion methods between ROS and kindr have been moved to the package [kindr_ros](https://github.com/anybotics/kindr_ros). * Concatenation of Homogeneous Transformation is now implemented. * Short typedefs are provided for Homogeneous Transformation: `HomTransformQuatD`, `HomTransformMatrixD`. * Jacobian of exponential map is implemented. * Unit tests based on gtest are provided to test the convention of other software packages. - Gazebo (gazebo::math::Quaternion) uses the same convention as kindr. - ROS TF (tf::Quaternion and tf::Matrix3x3) uses the same convention as kindr. - RBDL's RigidBodyDynamics::Math::SpatialTransform uses the same convention as kindr, whereas RBDL's RigidBodyDynamics::Math::Quaternion concatenates differently and its conversion to a rotation matrix is inverted. ## Requirements * [Eigen 3.2.0](http://eigen.tuxfamily.org) (Older versions might also work) * GCC 4.7 is required at the minimum. * CMake 2.8.3 is required at the minimum. ## Building ### Building with cmake Install the library with [CMake](www.cmake.org): ```bash mkdir build cd build cmake .. -DUSE_CMAKE=true sudo make install ``` Note that `USE_CMAKE` defaults to `true` if catkin is not installed. Uninstall the library with: ```bash cd build sudo make uninstall ``` Kindr can be included in your cmake project. Add the following to your *CmakeLists.txt*: ``` find_package(kindr) include_directories(${kindr_INCLUDE_DIRS}) ``` ### Building with catkin Build kindr with [catkin](wiki.ros.org/catkin): ```bash cd ~/catkin_ws/src git clone git@github.com:anybotics/kindr.git catkin_make_isolated -C ~/catkin_ws ``` or with [catkin command line tools](http://catkin-tools.readthedocs.org): ```bash cd ~/catkin_ws/src git clone git@github.com:anybotics/kindr.git catkin build -w ~/catkin_ws kindr ``` Kindr can be included in your catkin project with: Add the following to your *CMakeLists.txt*: ``` find_package(catkin COMPONENTS kindr) include_directories(${catkin_INCLUDE_DIRS}) ``` And to your *package.xml*: ```xml <package> <build_depend>kindr</build_depend> </package> ``` ### Building the documentation Build the documentation with [Doxygen](https://www.doxygen.nl/): ```bash mkdir build cd build cmake .. make kindr_doc ``` The doxygen documentation can be found here: ``` build/doc/html/index.html ``` ### Building unit tests with gtest [GTests](https://code.google.com/p/googletest/) are only built if the folder *gtest* exists in the root folder. Download and use GTest: ```bash wget https://github.com/google/googletest/archive/release-1.7.0.zip unzip release-1.7.0.zip ln -s googletest-release-1.7.0 gtest mkdir build cd build cmake .. -DUSE_CMAKE=true -DBUILD_TEST=true make ``` Note that `USE_CMAKE` defaults to `true` if catkin is not installed.