segway rmp 200 library {#mainpage}
Description
This driver offers a c++ wrapper to control a Segway RMP 200 platform.
Dependencies
This package requires of the following system libraries and packages
Under linux all of these utilities are available in ready-to-use packages.
Under MacOS most of the packages are available via fink
This package also requires of the following IRI libraries:
Compilation and installation
Download this repository and create a build folder inside:
mkdir build
Inside the build folder execute the following commands:
cmake ..
The default build mode is DEBUG. That is, objects and executables include debug information.
The RELEASE build mode optimizes for speed. To build in this mode execute instead
cmake .. -DCMAKE_BUILD_TYPE=RELEASE
The release mode will be kept until next time cmake is executed.
make
In case no errors are reported, the generated libraries (if any) will be located at the lib folder and the executables (if any) will be located at the bin folder.
In order to be able to use the library, it it necessary to copy it into the system. To do that, execute
make install
as root and the shared libraries will be copied to /usr/local/lib/iridrivers directory and the header files will be copied to /usr/local/include/iridrivers dierctory. At this point, the library may be used by any user.
To remove the library from the system, exceute
make uninstall
as root, and all the associated files will be removed from the system.
To generate the documentation execute the following command:
make doc
How to use it
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
FIND_PACKAGE(<library name>)
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
INCLUDE_DIRECTORIES(${<librray name>_INCLUDE_DIR})
and it is also necessary to link with the desired libraries by using the following command
TARGET_LINK_LIBRARIES(<executable name> ${<library name>_LIBRARY})
Disclaimer
Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC. Author shernand (shernand@iri.upc.edu) All rights reserved.
This file is part of segway_rmp_200 driver library segway_rmp_200 driver library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with this program. If not, see http://www.gnu.org/licenses/