eigen-qld

eigen-qld provides an interface to use the QLD QP solver with the Eigen3 library.

Installing

Ubuntu LTS (16.04, 18.04, 20.04)

To setup the release versions:

# Make sure you have required toolssudo apt install apt-transport-https lsb-release# Add our keysudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806# Add our repositorysudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'# Update packages listsudo apt update# Install eigen-qld packagessudo apt install libeigen-qld-dev python-eigen-qld python3-eigen-qld

To setup the packages from the master branch:

# Make sure you have required toolssudo apt install apt-transport-https lsb-release# Add our keysudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806# Add our repositorysudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-head $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'# Update packages listsudo apt update# Install eigen-qld packagessudo apt install libeigen-qld-dev python-eigen-qld python3-eigen-qld

Homebrew OS X install

Install from the command line using Homebrew:

# install homebrew package managerruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"# install caskroom application managerbrew install caskroom/cask/brew-cask# tap homebrew-science package repositorybrew tap homebrew/science# tap ahundt-robotics repositorybrew tap ahundt/robotics# install tasks and all its dependenciesbrew install eigen-qld

Manually build from source

Dependencies

To compile you need the following tools:

• Git

• CMake >= 2.8

• pkg-config

• doxygen

• g++

• gfortran (-DUSE_F2C=OFF)

• gcc (-DUSE_F2C=ON)

• Boost >= 1.49

• Eigen >= 3.2

For Python bindings:

• Cython >= 0.20

• Eigen3ToPython (to use the python binding)

Building

git clone --recursive https://github.com/jrl-umi3218/eigen-qldcd eigen-qld
mkdir _buildcd _build
cmake [options] ..
make && make intall

CMake options

By default, the build will use the python and pip command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

• PYTHON_BINDING Build the python binding (ON/OFF, default: ON)

• PYTHON_BINDING_FORCE_PYTHON2: use python2 and pip2 instead of python and pip

• PYTHON_BINDING_FORCE_PYTHON3: use python3 and pip3 instead of python and pip

• PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2: builds two sets of bindings one with python2 and pip2, the other with python3 and pip3

• BUILD_TESTING Enable unit tests building (ON/OFF, default: ON)

• USE_F2C Build with fortran source code translated in C (slower runtime) (ON/OFF, default: OFF).