Build Status

master	dev

Installation instructions

Code Structure

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ocra
wocra
gocra
hocra (coming soon)
solvers
- quadprog
- qpoases

ocra

(O.C.R.A.) Optimization-based Control for Robotics Applications

wocra

(W.O.C.R.A.) Weighted Optimization-based Control for Robotics Applications

hocra

(H.O.C.R.A.) Hierarchical Optimization-based Control for Robotics Applications

solvers

Ultimately our goal is to implement the most recent convex solvers so we can mix and match control problem formulations with different solver algorithms. Right now we have only implemented a slightly modified version of QuadProg.

quadprog

This library is a QP (Quadratic Program) based on the QuadProg++ project (http://quadprog.sourceforge.net/) which has been slightly modified. In this version, vector and matrix classes are replaced by Eigen classes, in order to use the same definitions as the ocra libraries.

qpoases

Exploits the open-source C++ library qpOASES, which is an implementation of the recently proposed online active set strategy, which was inspired by important observations from the field of parametric quadratic programming (QP). It has several theoretical features that make it particularly suited for model predictive control (MPC) applications but also as a QP solver. (ref)

Dependencies

Boost (filesystem)
Eigen 3.2.0 (note: We have issues with later versions of eigen so please do not use the current build - install via apt-get.)
EigenLgsm
TinyXML
YARP

Boost, Eigen 3.2.0 & TinyXML

1 sudo apt-get install libboost-dev libtinyxml-dev libeigen3-dev

EigenLgsm

 git clone https://github.com/ocra-recipes/eigen_lgsm.git
 cd eigen_lgsm
 mkdir build
 cd build
 cmake ..
 sudo make install

YARP

Please follow the instructions here: http://www.yarp.it/install_yarp_linux.html

Installation

WARNING This is an experimental set of libs and there are no guarantees that they will not do damage to your computer. We take no responsibility for what happens if you install them. That being said, if you follow these instructions you should be fine.

Okay that's out of the way... phew!

Install to /usr/local

 git clone https://github.com/ocra-recipes/ocra-recipes.git
 cd ocra-recipes
 mkdir build
 cd build
 cmake ..
 sudo make install

Install to custom location (example: /home/user/Install)

 git clone https://github.com/ocra-recipes/ocra-recipes.git
 cd ocra-recipes
 mkdir build
 cd build
 cmake -DCMAKE_INSTALL_PREFIX=home/user/Install ..
 make install

Note: If you do the install this way then you must update your environment variables in your .bashrc file.

In .bashrc

 # ocra-recipes install
 export OCRA_INSTALL=/home/user/Install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${OCRA_INSTALL}/lib
 export LIBRARY_PATH=${LIBRARY_PATH}:${OCRA_INSTALL}/lib
 export PATH=${PATH}:${OCRA_INSTALL}/bin

Tested OS's

[x] Ubuntu 12.04
[x] Ubuntu 14.04
[x] Debian 7
[x] OS X

In theory any linux distro should work if the dependencies are met and don't conflict with any system libs/headers. If you manage to build, install and use OCRA in any other platform please let us know and we can add it to the list with any helpful notes you provide along with it.

Enjoying your OCRA...

Well now that you have ocra-core up and running, you probably want to try it out n'est pas? Well mosey on over to the ocra-wbi-plugins repo and follow the instructions.

Want to contribute? Maybe build a plugin or two? Read the Contributing section for details on how to interface with OCRA and use it for world domination.

Notes about OS X

:warning: As a recent feature we added rpath support, therefore, by default the flag OCRA_ICUB_ENABLE_RPATH is OFF. Change it by configuring ocra-wbi-plugins as: cmake -DOCRA_ICUB_ENABLE_PATH=ON ./. Once we're sure this ''always'' works it will be ON by default. Therefore, if you encounter error messages such as:

1 dyld library not loaded @rpath/libYarpMath.dylib

Most likely this variable is still OFF.

:warning: When using XCode to debug your code, make sure you change your LLVM C++ Language settings manually to C++11, by heading to the Build Settings of your project, searching for C++ Language Dialect and changing it to C++11 [-std=c++11]

Contributing

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Generating the documentation

To build the documentation for orca-recipes you will need doxygen. To install doxygen on linux run sudo apt-get install doxygen.

In your build/ directory (if you have already run cmake .. simply run:

1 make doc

** If you run this right now you must ignore the latex errors due to the missing .sty files by just holding down enter until they are past. **

HTML and LaTeX files will be generated in the build/docs/ directory. Open the file, index.html.