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markusgftmarkusgft
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updating installation tutorial
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‎ct_doc/doc/DoxygenLayout.xml

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<!-- >test <-->
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<navindex>
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<tab type="mainpage" visible="yes" title="Home"/>
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<tab type="user" url="../../../ct_core/doc/html/index.html" title="Core module"/>
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<tab type="user" url="../../../ct_optcon/doc/html/index.html" title="Optimal Control"/>
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<tab type="user" url="../../../ct_rbd/doc/html/index.html" title="Robot Module"/>
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<tab type="user" url="../../../ct_models/doc/html/index.html" title="Models"/>
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<tab type="pages" visible="yes" title="" intro=""/>
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<tab type="modules" visible="no" title="Modules" intro=""/>
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<tab type="namespaces" visible="yes" title="">
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<tab type="filelist" visible="yes" title="" intro=""/>
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<tab type="globals" visible="yes" title="" intro=""/>
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</tab>
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<tab type="examples" visible="yes" title="" intro=""/>
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<tab type="examples" visible="yes" title="" intro=""/>
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<!--tab type="user" url="../../../ct_core/doc/html/index.html" title="Core module"/-->
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<!--tab type="user" url="../../../ct_optcon/doc/html/index.html" title="Optimal Control"/-->
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<!--tab type="user" url="../../../ct_rbd/doc/html/index.html" title="Robot Module"/-->
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<!--tab type="user" url="../../../ct_models/doc/html/index.html" title="Models"/-->
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</navindex>
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<!-- Layout definition for a class page -->

‎ct_doc/doc/installation.dox

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/*!
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\page install_guide Installation
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@tableofcontents
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\section req Requirements:
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\subsection req-system System Requirements
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- Ubuntu 16.04 or 18.04
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- a compiler with C++14 support, e.g. gcc or clang
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\section dep Get Required Dependencies
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\subsection req-dependencies Required Dependencies
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- install <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a> via
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\code{.sh}
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sudo apt-get update
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\endcode
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\section build Building the CT
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- VARIANT A, if you are a ROS-user: build the CT using catkin tools
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\code{.sh}
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cd ~/your_workspace
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catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
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\endcode
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- Now, try to run the examples, e.g. the optimal control and optimal filtering examples:
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\code{.sh}
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cd ~/catkin_ws/src
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catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
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rosrun ct_optcon ex_NLOC
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rosrun ct_optcon ex_KalmanFiltering
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\endcode
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- VARIANT B, if you prefer plain cmake.
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First, make sure you build and install the kindr-library, see <a href="https://github.com/ANYbotics/kindr#building">kindr</a> here.
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Then go to the CT and run the build script:
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\code{.sh}
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cd ../control-toolbox/ct
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chmod 775 build_ct.sh
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./build_ct.sh -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
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\endcode
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- This creates a /build subdirectory in every single CT-project, where the examples will be located.
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\subsection build-ros For ROS or catkin users
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\subsubsection build-ros-main Compiling the Library
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It is assumed that you have a valid catkin-workspace set up, e.g. using <a href="https://catkin-tools.readthedocs.io/en/latest/">catkin tools</a>.
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Then, execute the following steps.
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\code{.sh}
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cd ~/your_workspace
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catkin build -DCMAKE_BUILD_TYPE=Release
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\endcode
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\subsubsection build-ros-examples Building and running examples
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To build an run the examples, e.g. the optimal control and optimal filtering examples:
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\code{.sh}
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cd ~/your_workspace
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catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
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source devel/setup.bash
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rosrun ct_optcon ex_NLOC
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rosrun ct_optcon ex_KalmanFiltering
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\endcode
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\subsubsection build-ros-tests Building and running the unit tests
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To build an run the unit tests:
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\code{.sh}
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cd ~/your_workspace
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catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=true
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catkin run_tests
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\endcode
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\subsubsection build-ros-doc Building the documentation
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To build the documentation execute
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\code{.sh}
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catkin build ct_doc -v --make-args doc
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\endcode
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This will build the documentation. The index.html can be found in ct_doc/doc/html
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\subsection build-cmake Using plain cmake.
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\subsubsection build-cmake-main Compiling the Library
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First, make sure you build and install the kindr-library, see <a href="https://github.com/ANYbotics/kindr#building">here</a>.
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Then go to your local clone of the control toolbox and run the build script:
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\code{.sh}
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cd your_workspace/control-toolbox/ct
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chmod 775 build_ct.sh
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./build_ct.sh -DCMAKE_BUILD_TYPE=Release
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\endcode
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\subsubsection build-cmake-examples Building and running examples
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Then go to your local clone of the control toolbox and run the build script with the following flags.
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\code{.sh}
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cd your_workspace/control-toolbox/ct
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./build_ct.sh -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
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\endcode
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This creates a /build subdirectory in every single CT-project, where the examples will be located.
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For running the nonlinear optimal control or filtering examples, for instance, go to your workspace an run
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\code{.sh}
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./src/control-toolbox/ct_optcon/build/examples/ex_NLOC
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./src/control-toolbox/ct_optcon/build/examples/ex_KalmanFiltering
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\endcode
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\subsubsection build-cmake-tests Building and running the unit tests
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To build an run the unit tests:
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\code{.sh}
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cd your_workspace/control-toolbox/ct
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./build_ct.sh -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=true
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\endcode
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\subsubsection build-cmake-doc Building the documentation
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\code{.sh}
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cd your_workspace/control-toolbox/ct
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chmod 775 build_doc.sh
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./build_doc.sh
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\endcode
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The index.html can be found in ct_doc/doc/html
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\subsubsection build-cmake-cleanup Clean up
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In order to clean up the build workspaces, run the clean script
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\code{.sh}
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cd your_workspace/control-toolbox/ct
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chmod 775 clean_ct.sh
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./clean_ct.sh
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\endcode
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\section opt_dep Optional Dependencies and Bindings
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-DHPIPM=\<BOOL> | FALSE | Compile with HPIPM support (set $BLASFEO_DIR and $HPIPM_DIR environment variables)
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\section build_doc Build this Documentation
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To build the documentation do
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\code{.sh}
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catkin build ct_doc -v --make-args doc # build the doc
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\endcode
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This will build the documentation. The index.html can be found in ct_doc.
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\section run_tests Run Unit Tests
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The unit tests are writte as <a href="http://code.google.com/p/googletest/">Google Tests</a>.
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To run unit tests and verify operation execute
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\code{.sh}
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catkin run_tests
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\endcode
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*/

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