eigen-qld provides an interface to use the QLD QP solver with the Eigen3 library.
Use the multi-contact-unstable ppa:
sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install eigen-qldInstall from the command line using Homebrew:
# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install eigen-qldTo compile you need the following tools:
- Git
- CMake >= 2.8
- pkg-config
- doxygen
- g++
- gfortran (-DUSE_F2C=OFF)
- gcc (-DUSE_F2C=ON)
- Boost >= 1.49
- Eigen >= 3.2
git clone --recursive https://github.com/jrl-umi3218/eigen-qld
cd eigen-qld
mkdir _build
cd _build
cmake [options] ..
make && make intallWhere the main options are:
-DCMAKE_BUIlD_TYPE=ReleaseBuild in Release mode-DCMAKE_INSTALL_PREFIX=some/path/to/installdefault is/usr/local-DUNIT_TESTS=ONBuild unit tests.-DUSE_F2C=ONBuild with fortran source code translated in C (slower runtime).
To update cmake directory with their upstream git repository:
git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash
git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .jrl-ci git://github.com/jrl-umi3218/jrl-travis.git master --squash
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