NAV

Import the package

You can import rkcl-core as usual with PID. In the root CMakelists.txt file of your package, after the package declaration you have to write something like:

PID_Dependency(rkcl-core)

It will try to install last version of the package.

If you want a specific version (recommended), for instance the currently last released version:

PID_Dependency(rkcl-core VERSION 2.2)

Components

rkcl-core

This is a shared library (set of header files and a shared binary object).

exported dependencies:

include directive :

Not specified (dangerous). You can try including any or all of these headers:

#include <rkcl/core.h>
#include <rkcl/data/collision_object.h>
#include <rkcl/data/control_point.h>
#include <rkcl/data/crtp.h>
#include <rkcl/data/fwd_decl.h>
#include <rkcl/data/joint.h>
#include <rkcl/data/joint_group.h>
#include <rkcl/data/observation_point.h>
#include <rkcl/data/point.h>
#include <rkcl/data/return_value.h>
#include <rkcl/data/robot.h>
#include <rkcl/data/robot_collision_object.h>
#include <rkcl/data/timer.h>
#include <rkcl/drivers/capacitive_sensor_driver.h>
#include <rkcl/drivers/driver.h>
#include <rkcl/drivers/dual_arm_force_sensor_driver.h>
#include <rkcl/drivers/dummy_joints_driver.h>
#include <rkcl/drivers/force_sensor_driver.h>
#include <rkcl/drivers/joints_driver.h>
#include <rkcl/processors/admittance_controller.h>
#include <rkcl/processors/collision_avoidance.h>
#include <rkcl/processors/forward_kinematics.h>
#include <rkcl/processors/ik_controller.h>
#include <rkcl/processors/internal/internal_functions.h>
#include <rkcl/processors/joint_space_otg.h>
#include <rkcl/processors/joints_controller.h>
#include <rkcl/processors/otg.h>
#include <rkcl/processors/qp_ik_controller.h>
#include <rkcl/processors/qp_ik_solver.h>
#include <rkcl/processors/qp_joints_controller.h>
#include <rkcl/processors/qp_solver.h>
#include <rkcl/processors/simple_joints_controller.h>
#include <rkcl/processors/task_space_controller.h>
#include <rkcl/processors/task_space_otg.h>

CMake usage :

In the CMakeLists.txt files of your applications and tests, or those of your libraries that do not export the dependency:

PID_Component_Dependency(
				COMPONENT	your component name
				DEPEND	rkcl-core
				PACKAGE	rkcl-core)

In the CMakeLists.txt files of libraries exporting the dependency :

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	rkcl-core
				PACKAGE	rkcl-core)

rkcl-utils

This is a shared library (set of header files and a shared binary object).

exported dependencies:

include directive :

Not specified (dangerous). You can try including any or all of these headers:

#include <rkcl/processors/constraints_generator.h>
#include <rkcl/processors/cooperative_task_adapter.h>
#include <rkcl/processors/data_logger.h>
#include <rkcl/processors/simple_collision_avoidance.h>
#include <rkcl/utils.h>

CMake usage :

In the CMakeLists.txt files of your applications and tests, or those of your libraries that do not export the dependency:

PID_Component_Dependency(
				COMPONENT	your component name
				DEPEND	rkcl-utils
				PACKAGE	rkcl-core)

In the CMakeLists.txt files of libraries exporting the dependency :

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	rkcl-utils
				PACKAGE	rkcl-core)