Optimisation-based framework for Robotic Control Applications

Linux/OSX	Windows

Dependencies

• A modern c++11 compiler (gcc > 4.8 or clang > 3.8)
• cmake > 3.1
• iDynTree (optional, shipped)
• qpOASES 3 (optional, shipped)
• Eigen 3 (optional, shipped)
• Gazebo 8 (optional)

ORCA is self contained ! It means that is ships iDynTree and qpOASES inside the project, allowing fast installations and easy integration on other platforms.

Installation

Always keep in mind that it's better to install the dependencies separately if you plan to use iDynTree or qpOASES in other projects. For now only iDynTree headers appear in public headers, but will be removed eventually to ease the distribution of this library.

Installation with embedded dependencies

This is the easiest installation if you have a clean system and want to test quickly :

git clone https://github.com/syroco/orca
cd orca
mkdir build ; cd build
cmake ..
cmake --build . # or just 'make'

Installation without embedded dependencies (recommended)

This installation requires to build the dependencies separately.

Eigen

wget http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2
tar xjvf 3.3.4.tar.bz2
cd eigen-eigen-dc6cfdf9bcec
mkdir build ; cd build
cmake --build .
sudo cmake --build . --target install

qpOASES

wget https://www.coin-or.org/download/source/qpOASES/qpOASES-3.2.1.zip
unzip qpOASES-3.2.1.zip
cd qpOASES-3.2.1
mkdir build ; cd build
cmake .. -DCMAKE_CXX_FLAGS="-fPIC" 
cmake --build .
sudo cmake --build . --target install

iDynTree

git clone https://github.com/robotology/idyntree
cd idyntree
mkdir build ; cd build
cmake ..
cmake --build .
sudo cmake --build . --target install

Gazebo

Examples are built with Gazebo 8. They can be adapted of course to be backwards compatible.

curl -ssL http://get.gazebosim.org | sh

NOTE: You can almost always avoid calling sudo, by calling cmake .. -DCMAKE_INSTALL_PREFIX=/some/dir and exporting the CMAKE_PREFIX_PATH variable : export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/some/dir