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source-installation-using-the-full-superbuild-installation-from-source.md

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Source Installation using the full Superbuild Installation from Source

  1. Clone and build the robotology-superbuild following the steps in https://github.com/robotology/robotology-superbuild/blob/master/README.md.
  2. For cloning icub-models, YARP (dependency of yarp-matlab-bindings): set the profile option ROBOTOLOGY_ENABLE_CORE.
  3. For cloning iDynTree, WBToolbox, qpOASES, yarp-matlab-bindings and matlab-whole-body-simulator(*): set the profile option ROBOTOLOGY_ENABLE_DYNAMICS and CMake option ROBOTOLOGY_USES_MATLAB. The repository matlab-whole-body-simulator is cloned in <ROBOTOLOGY_SUPERBUILD_SOURCE_DIR>/src/matlab-whole-body-simulator.
  4. Open MATLAB and Add the path <ROBOTOLOGY_SUPERBUILD_SOURCE_DIR>/src/matlab-whole-body-simulator/lib to the top of the MATLAB path. This allows MATLAB to find the source library instead of the installed one.

Note 1: In general, for selecting the profile CMake options according to the sub-projects to install, refer to the table in the section Profile CMake Options. Note 2: By setting the profile ROBOTOLOGY_ENABLE_DYNAMICSin the superbuild cmake options, the qpOASES library will then be installed along with iDynTree as an external dependency. Note 3: Previously, two other optional QP solvers were available: OSQP and the native MATLAB solver quadprog. OSQP bindings and quadprog are not supported by the Simulink code generation build option in the step_block MATLAB System block. For this reason, the step_block MATLAB System block uses the qpOASES WBT block through a Simulink function call, and this choice is hardcoded in the class Contacts. As soon as the OSQP WBT block is created, it will replace the qpOASES Solver block.