A sparse MPC solver for walking motion generation (old version).: README.md Source File

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00001 ## Overview
00002 
00003 This package includes two small libraries. The main library is 
00004 located in 'solver' subfolder, it implements a solver of quadratic 
00005 optimization problems defined using sparse model predictive control 
00006 formulation for walking motion generation. The second library ('WMG' 
00007 subfolder) is necessary to perform walking simulation, it produces 
00008 input for the solver on each simulation step.
00009 
00010 Tests and demos are placed in 'test' subfolder.
00011 
00012 
00013 ## Requirements:
00014 
00015 * GNU make
00016 * Eigen (for WMG)
00017 
00018 
00019 ## The libraries can be compiled in two ways:
00020 1. (Recommended) Using cmake:
00021     * Compilation:
00022     `make cmake`
00023 
00024     * Toolchain can be specified in the folowing way:
00025     `make cmake TOOLCHAIN=< path to a toolchain >`
00026 
00027 2. (Does not work on MAC) Using only GNU make:
00028     * compilation of the libraries: `make`
00029     * compilation of the libraries and tests: `make test`
00030 
00031 
00032 ## Further information
00033         
00034 The newest sources are available on GitHub:
00035 <https://github.com/asherikov/smpc_solver/tree/Version_1.x>
00036 
00037 The documentation generated by doxygen can be found here:
00038 <http://asherikov.github.com/smpc_solver/v1/>