TSID is C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio. Take a look at the project wiki for more details.
- boost (unit_test_framework)
- eigen3
- pinocchio
To install eigen3 on Ubuntu you can use apt-get: sudo apt-get install libeigen3-dev
To install pinocchio follow the instruction on its website.
cd $DEVEL/openrobots/src/
git clone --recursive [email protected]:stack-of-tasks/tsid.git
cd tsid
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install