libkine

libkine
---

A serial robot kinematics library.

Feature:
---

* [x] DH Paramters
* [x] Homogenous transformation matrix
* [ ] Screw theory
* [ ] Rigid body velocity / Jacobian
* [x] 3D Visualization with using STL files

Dependencies:
---

1. VTK for visualization
2. Armadillo for matrix calculation
3. FLTK for the joint sider interface

How to Install:
---

1. Make sure you have git-lfs installed
2. Clone the repository: git clone git@github.com:auralius/libkine.git
3. Go to the directory of the cloned project, use git-lfs to get the binaries and the robot 3D models: git lfs checkout
4. Build the source using CMake
5. Create directory: mkdir build
6. Go inside build, type: cmake ..
7. Type: make
8. Run: ./demo1 or ./demo2 ../model/puma/puma.csv ../model/puma/puma.csv

---

Binaries and robot 3D models are stored with git-lfs (https://git-lfs.github.com).