pinocchio-visualizers

This package aims to provide basic functionality and common interfaces for visualizers (in C++/Python) for the Pinocchio rigid-body dynamics library.

Dependencies

• Pinocchio, of course (built with HPP-FCL Coal support)
• A C++17 compliant compiler

Usage in your source files

In exactly one file in your application (or its target dependencies), include the main header with the definition to pull in the implementation:

#define PINOCCHIO_VISUALIZERS_IMPLEMENTATION
#include <pinocchio-visualizers/base-visualizer.hpp>

Usage in a CMake project

Installed

The library (sources and CMake target files) can be installed following:

mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . --target install

Then, the CMake targets can be found through find_package(pinocchio-visualizers). After acquiring the target, link to it:

target_link_libraries(mytarget [PUBLIC|PRIVATE|INTERFACE] pinocchio-visualizers::pinocchio-visualizers)

As a submodule

In your own repository, you can add it as a submodule:

git submodule add https://github.com/Simple-Robotics/pinocchio-visualizers

and in CMake, add it as a subdirectory before using the target:

add_subdirectory(pinocchio-visualizers)