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

Installing from packages (recommended for Ubuntu LTS users)

The maintainers of this project provide binary packages for the latest Ubuntu LTS releases and commonly used system architectures. To install these packages, you may follow these instructions:

• Add the project PPA to your APT sources by issuing

  sudo add-apt-repository ppa:ethz-asl/common
  

  on the command line

• To re-synchronize your package index files, run

  sudo apt-get update
  

• Install all project packages and their dependencies through

  sudo apt-get install kindr-*
  

  or selected packages using your favorite package management tool

Building with cmake

Install the library with CMake:

mkdir build
cd build
cmake ..
sudo make install

Uninstall the library with:

cd build
sudo 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:

cd ~/catkin_ws/src
git clone [email protected]:ethz-asl/kindr.git
catkin_make_isolated -C ~/catkin_ws

or with catkin command line tools:

cd ~/catkin_ws/src
git clone [email protected]:ethz-asl/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:

<package>
	<build_depend>kindr</build_depend>
</package>

Building the documentation

Build the documentation with Doxygen:

mkdir build
cd build
cmake ..
make doc

The doxygen documentation can be found here:

doc/doxygen/doc/html/index.html

Building unit tests with gtest

GTests are only built if the folder gtest exists in the root folder.

Download and use GTest:

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