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M. Rolf, 04/17/2012 01:31 PM
Using the example binaries¶
Example 1: The ContinuumSegmentDemo (3D visualization)¶
This didactic example shows the geometric model underlying the simulated continuum kinematics, i.e. that each segment of a continuum robot behaves
like a torus segment. The example shows an animated movement of such a segment. Press Alt-T
(orus), Alt-G
(eometry) to toggle various visualization modes.
The code shows how to use the basic class ContinuumSegmentDrawable
, which takes take of the 3D rendering.
Example 2: The ContinuumRobotDemo (3D visualization)¶
Example 3: The BhaTrajectoryPrediction¶
Predict and visualize the end-effector trajectory for the "Bionic Handling Assistant" morphology given a posture-trajectory.
In the 3D visualization, press N
to generate a new trajectory.
Windows binaries¶
In order to execute the examples, you need some "Microsoft Visual C++" libaries:- The easiest way to get them is installing the "Microsoft Visual C++ 2010 Redistributable Package" from http://www.microsoft.com/download/en/details.aspx?id=5555
- Having the "Microsoft Visual C++ 2010" development environment installed does the same job, of course.
Linux Debian packages¶
There are debian-packages for "Ubuntu Linux Oneiric". Get them by adding the line
deb http://packages.cor-lab.de/ubuntu/ oneiric testing
to your
/etc/apt/sources.list
file. Then typesudo apt-get install continuumkinematics-bin
The example binaries will be installed to
/usr/bin/examples
.
ToDo: Make Public key public https://support.cor-lab.org/projects/ciserver/wiki/RepositoryUsage
Troubleshooting¶
Install and use from source¶
Dependencies¶
- Required: NemoMath
- Required: CMake
- Optional: libqglviewer-qt4-dev, in case you want to use the visualization. The pure kinematics part can be built and deployed without this dependency.
- Which requires: Qt 4
Building from source¶
- Get the source from https://code.cor-lab.org/svn/continuumkinematics, e.g.
svn co https://code.cor-lab.org/svn/continuumkinematics
- Build it under Linux or MacOS
cd continuumkinematics/build cmake -DCMAKE_INSTALL_PREFIX=${PREFIX} .. make install
- Build it under Windows/MSVC
cd continuumkinematics call project\build_vs.bat
Troubleshooting¶
- During configuration, cmake says
Qt qmake not found!
. Simply check out where the qmake binary is located in your filesystem and put this in your cmake call:
-DQT_QMAKE_EXECUTABLE="${PATH_TO_QMAKE}/qmake"
- If you get linking errors like
undefined reference to `QGLViewer::***'
, you are probably linking againstlibqglviewer-qt3
instead ofqt4
- If you don't have the right version of
qglviewer
around, install it. - If cmake still does not configure the correct library, you can manually chose the correct path by setting the variables "
QGLVIEWER_*
":
cmake -DCMAKE_INSTALL_PREFIX=${PREFIX} -DQGLVIEWER_INCLUDE_DIR=${QGL_QT4_DIR}/include -DQGLVIEWER_LIBRARIES=${QGL_QT4_DIR}/lib/${library_name} .. make install
- If you don't have the right version of
- When running the example binaries, you get the error message
QWidget: Must construct a QApplication before a QPaintDevice
- An annoying problem that is currently only observed under Windows/MSVC: It seems to happen when QGLViewer is built in
release
mode, but you build thecontinuumkinematics
code indebug
mode, or vice versa. - Solution: find out how QGLViewer was built (most likely as
release
) and set the build-configuration accordingly in the cmake call:
-DCMAKE_BUILD_TYPE=[release/debug]
- An annoying problem that is currently only observed under Windows/MSVC: It seems to happen when QGLViewer is built in
Platform/Compiler support¶
Currently, the following combinations are explicitly supported and known to work:- Ubuntu Linux/GCC with Ubuntu version from
10.04 LTS (Lucid Lynx)
and newer, andGCC>=4.3
, 32bit as well as 64bit - MacOS/CLang3.0
- Windows 7/MSVC2010, 32bit
- GCC 4.2 or older
- MSVC 2008 or older