Just Model Loader library in the hrplib of OpenHRP3.1 -- Not depended on CORBA, omniORB library.
Original source is openHRP3.
- URL : https://github.com/fkanehiro/openhrp3.git
- tag : 3.1.9
Linux (kernel version >= 4.18.0-24-generic)
g++ version >= 7.4.0
c++ version >= c++11
needless?
On QNX, altas & cblas is prbably also needed.
$ sudo apt-get install liblapack-dev libblas-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libboost-all-dev
check apt-get pakcage libboost-dev version.
version >= 1.65 is OK as far as I can see.
dpkg -s libboost-dev
clone from https://github.com/google/googletest.git
and compile & install.
( Add the Path of libgtest_main.{a/so} & libgtest.{a/so} into LD_LIBRARY_PATH.
Or fix linker option -L* of Makefile to link them )
Make at the top of directory.
$ make
generated in the lib/ for using HRP library
- libModelLoader.a
generated in the bin/
- ModelLoader : from src/main.cpp
- unit_test : from the sources test/*.cpp with google test.
"clean" option is removing object files(*.o) and emacs backup(*~).
$ make clean
"cleanall" option is removing not only *.o but also lib/libmodel_loader.a and binaries(bin/*).
$ make cleanall
Include files are separated from the source (the original's are in one-package),
Because it is useful & portable when libraries are used for another place (project),
source files are not necessary, just only include files are needed.
.
├── bin
├── lib
├── include
│ ├── hrpCollision : all the same as original oprnhrp3/hrplib/hrpCollision
│ │ └── Opcode
│ │ └── Ice
│ ├── hrpModel : all the same as original oprnhrp3/hrplib/hrpModel
│ ├── hrpUtil : all the same as original oprnhrp3/hrplib/hrpUtil
│ │ ├── Jpeg-6b
│ │ ├── lpng1232
│ │ └── zlib123
│ └── ModelLoader : derive from original oprnhrp3/server/ModelLoader
├── src
│ ├── hrpCollision
│ │ └── Opcode
│ │ └── Ice
│ ├── hrpModel
│ ├── hrpUtil
│ │ ├── Jpeg-6b
│ │ ├── lpng1232
│ │ └── zlib123
│ └── ModelLoader
└── test
└── model
Copyright (c) 2019, kdaic.
Software and license text is available at the top of each file.
kdaic