eigen-qld provides an interface to use the QLD QP solver with the Eigen3 library.
You must first setup our package mirror:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
| sudo -E bash
You can also choose the head mirror which will have the latest version of this package:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
| sudo -E bash
You can then install the package:
sudo apt install libeigen-qld-dev python-eigen-qld python3-eigen-qldInstall the latest version using conan
conan remote add multi-contact https://api.bintray.com/conan/gergondet/multi-contact
# Install the latest release
conan install eigen-qld/latest@multi-contact/stable
# Or install the latest development version
# conan install eigen-qld/latest@multi-contact/devTo 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)
git clone --recursive https://github.com/jrl-umi3218/eigen-qld
cd eigen-qld
mkdir _build
cd _build
cmake [options] ..
make && make intallBy 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_BINDINGBuild the python binding (ON/OFF, default: ON)PYTHON_BINDING_FORCE_PYTHON2: usepython2andpip2instead ofpythonandpipPYTHON_BINDING_FORCE_PYTHON3: usepython3andpip3instead ofpythonandpipPYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2: builds two sets of bindings one withpython2andpip2, the other withpython3andpip3BUILD_TESTINGEnable unit tests building (ON/OFF, default: ON)USE_F2CBuild with fortran source code translated in C (slower runtime) (ON/OFF, default: OFF).