WindowsSources

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Table of contents

• Windows - Installing from Sources
• Assumptions
• Step 1: Install all necessary programs and libraries
• Step 2: Compile and Install FARSA
  • Step 3 (optional): Compile and Install the iCub plugin
  • Run and Test Total99

Windows - Installing from Sources

Assumptions

In the following guide, we suppose that there is a base directory containing everything we need. You can create it wherever you prefer (e.g. inside your home directory) and we will refer to this directory as BASE_DIR. Inside BASE_DIR create the following subdirectories:

• source — it will contain the source code
• build — it will contain files for compiling and debugging
• opt — it will contain the installed files

Step 1: Install all necessary programs and libraries

Install the following programs:

• C++ compiler - FARSA is known to compile with Visual Studio 2008 or 2010, other compilers have not been tested (though they should work as long as they are standard-compliant)
• CMake - Use version 2.8 or above. During installation we will use it to generate Makefiles
• Qt - FARSA has been tested with both version 4.x and 5.x. Make sure you download the version that works with your compiler (for example "QT 4.8 for VS 2008" or "QT 4.8 for VS 2010")
• GSL - this is a library with optimized math routines. It is optional but recommended. If you plan to install YARP and iCub, you can use the one installed by those packages (in this case install the YARP and iCub packages BEFORE FARSA).

Step 2: Compile and Install FARSA

• Add the following environment variables (read this quick how-to if you do not know how to do it):

  FARSA_DIR = BASE_DIR\opt\farsa
  

• Download and extract the FARSA source code package farsa-x.y.z .zip or .tar.gz file (sourceforge.net) inside the BASE_DIR\source directory

• Create the directory where we will build FARSA: BASE_DIR\build\farsa

• Generate the Visual Studio solution/projects for building FARSA using CMake with following settings (i.e. run CMAKE, specify the source and build directory as specified below, press the CONFIGURE button, set few other parameters as specified below, presso the CONFIGURE and then the GENERATE buttons):

  Source directory = BASE_DIR\source\farsa-1.2.2
  Build directory = BASE_DIR\build\farsa
  CMAKE_INSTALL_PREFIX = BASE_DIR\opt\farsa
  USE_GSL = ON # Only if you installed GSL, otherwise set to OFF
  FARSA_USE_QT5 = OFF # If you have QT 4.x installed, set to ON if you have QT 5.x installed
  

• Run Visual Studio

• Open the solution file called "farsa.sln" contained in the directory BASE_DIR\build\farsa. This file has been generated by CMake
• Set the "release" compilation mode if the default value is "debug". If possible, repeat the compilation and installation steps for both the "debug" and "release" versio
• Run the "build all" or "build solution"
• Select the INSTALL project from the FARSA project list window of Visual Studio and compile it by running the "build solution" or "build project" command from the menu or after right clicking on it. This is necessary since the INSTALL project is never executed by default

Step 3 (optional): Compile and Install the iCub plugin

Support for the iCub robot in FARSA is now in a plugin, which needs to be compiled and installed. The plugin can be found in the farsa-plugins package (available here) or directly in the svn repository.

In order to compile the FARSA iCub plugin, you first need to install YARP and iCub. The instructions for both are provided at this page. The FARSA iCub plugin should work with versions of YARP following 2.3.62 and of iCub following 1.1. Again, pay attention to the version you install and make sure it matches the Visual Studio version you have installed.

Once the dependencies have been installed, you can compile and install the iCub plugin as any other plugin. The procedure is explained in this page. Remember to install the iCub plugin so that it can be used by other plugins depending on it.

Run and Test Total99

If everything went well, you should now be able to start the total99 executable simply by double-clicking on the executable present into BASE_DIR\opt\bin