Authors: Christian Gehring, C. Dario Bellicoso, Michael Bloesch, Remo Diethelm, Peter Fankhauser, Paul Furgale, Michael Neunert, Hannes Sommer
Maintainer: Remo Diethelm, rdiethelm@anybotics.com
Affiliation: ANYbotics
This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab).
This work is conducted as part of ANYmal Research, a community to advance legged robotics.
The source code is released under a BSD 3-Clause license.
Impatient individuals can directly download the cheat sheet.
See also section 'Building the documentation' below.
- Simplified header include
#include <kindr/Core>
is provided. - Kindr is now strongly dependent on Eigen.
- All sub namespaces have been removed. (e.g.
kindr::rotations::eigen_impl
->kindr::
) - The implementations of rotations and time derivatives have been simplified (Passive, Hamiltonian).
- Active typedefs (e.g. RotationQuaternionAD) have been removed and simpler ones (e.g. RotationQuaternionD) have been introduced.
- Note that the functionality of some operators changed! Please check the cheat sheet to understand what is implemented.
- Some hints on what needs to be changed from kindr 0.0.1:
rotation.setFromVectors(v1, v2)
->rotation.setFromVectors(v2, v1)
C_BI.boxPlus(dt * B_w_IB)
->C_BI.boxPlus(dt * C_IB * B_w_IB)
C_BI.boxMinus(dt * B_w_IB)
->-C_BI.boxMinus(dt * B_w_IB)
- Euler angles probably have to be negated.
- Conversion methods between ROS and kindr have been moved to the package kindr_ros.
- Concatenation of Homogeneous Transformation is now implemented.
- Short typedefs are provided for Homogeneous Transformation:
HomTransformQuatD
,HomTransformMatrixD
. - Jacobian of exponential map is implemented.
- Unit tests based on gtest are provided to test the convention of other software packages.
- Gazebo (gazebo::math::Quaternion) uses the same convention as kindr.
- ROS TF (tf::Quaternion and tf::Matrix3x3) uses the same convention as kindr.
- RBDL's RigidBodyDynamics::Math::SpatialTransform uses the same convention as kindr, whereas RBDL's RigidBodyDynamics::Math::Quaternion concatenates differently and its conversion to a rotation matrix is inverted.
- Eigen 3.2.0 (Older versions might also work)
- GCC 4.7 is required at the minimum.
- CMake 2.8.3 is required at the minimum.
Install the library with CMake:
mkdir build
cd build
cmake .. -DUSE_CMAKE=true
sudo make install
Note that USE_CMAKE
defaults to true
if catkin is not installed.
Uninstall the library with:
cd build
sudo make uninstall
Kindr can be included in your cmake project. Add the following to your CmakeLists.txt:
find_package(kindr)
include_directories(${kindr_INCLUDE_DIRS})
Build kindr with catkin:
cd ~/catkin_ws/src
git clone git@github.com:anybotics/kindr.git
catkin_make_isolated -C ~/catkin_ws
or with catkin command line tools:
cd ~/catkin_ws/src
git clone git@github.com:anybotics/kindr.git
catkin build -w ~/catkin_ws kindr
Kindr can be included in your catkin project with: Add the following to your CMakeLists.txt:
find_package(catkin COMPONENTS kindr)
include_directories(${catkin_INCLUDE_DIRS})
And to your package.xml:
<package>
<build_depend>kindr</build_depend>
</package>
Build the documentation with Doxygen:
mkdir build
cd build
cmake ..
make kindr_doc
The doxygen documentation can be found here:
build/doc/html/index.html
GTests are only built if the folder gtest exists in the root folder.
Download and use GTest:
wget https://github.com/google/googletest/archive/release-1.7.0.zip
unzip release-1.7.0.zip
ln -s googletest-release-1.7.0 gtest
mkdir build
cd build
cmake .. -DUSE_CMAKE=true -DBUILD_TEST=true
make
Note that USE_CMAKE
defaults to true
if catkin is not installed.