This sofware provides the solver and features to resolve the inverse of the dynamics of a free-floating robot, in contact with its environment. The basics are provided by the sot core, and the computation of the dynamics of the robot can be computed by a third party lib, for example sot-dynamic.

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

The sot dynamic inverse depends on several packages which have to be available on your machine.

• Libraries:
  • sot-core (>= 1.0.0)
  • soth (>= 0.0.1)
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)