This software provides robot dynamics algorithms. It uses a combination of a specific representation of robot models and C++ templates, such that each algorithm remains model-independant, yet is optimized for a particular robot at compile-time. It makes use of R. Featherstone's Spatial Algebra to describe forces, motions and inertias (cf. Rigid Body Dynamics Algorithms, Roy Featherstone).
The metapod project was initiated at JRL/LAAS, CNRS/AIST. This version is a fork, used at Aldebaran Robotics.
While the upstream metapod uses jrl-cmake as a build system, the Aldebaran Robotics fork uses qibuild.
The package depends on several packages which have to be available on your machine.
- System tools:
- CMake (>=2.8)
- usual compilation tools (GCC/G++, make, etc.)
- qibuild
- Libraries:
- Eigen (>=3.0.0)
- Boost (>=1.40.0) Boost Test is used in the test suite
- optionally, liburdf, as provided by ROS
Install qibuild then
qc --release
qm --release