Import the package

You can import robocop-omni-robot-controller as usual with PID. In the root CMakelists.txt file of your package, after the package declaration you have to write something like:

PID_Dependency(robocop-omni-robot-controller)

It will try to install last version of the package.

If you want a specific version (recommended), for instance the currently last released version:

PID_Dependency(robocop-omni-robot-controller VERSION 1.0)

Components

processors

This is a module library (no header files but a shared binary object). Designed to be dynamically loaded by an application or library.

CMake usage :

In the CMakeLists.txt files of your applications and tests, or those of your libraries that do not export the dependency:

PID_Component_Dependency(
				COMPONENT	your component name
				DEPEND	processors
				PACKAGE	robocop-omni-robot-controller)

In the CMakeLists.txt files of libraries exporting the dependency :

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	processors
				PACKAGE	robocop-omni-robot-controller)

omni-controller

This is a shared library (set of header files and a shared binary object).

Controller for omnidirectional robot

exported dependencies:

• from package robocop-core:
  • core

include directive :

In your code using the library:

#include <robocop/controllers/omni_kinematic_controller.h>

CMake usage :

In the CMakeLists.txt files of your applications and tests, or those of your libraries that do not export the dependency:

PID_Component_Dependency(
				COMPONENT	your component name
				DEPEND	omni-controller
				PACKAGE	robocop-omni-robot-controller)

In the CMakeLists.txt files of libraries exporting the dependency :

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	omni-controller
				PACKAGE	robocop-omni-robot-controller)

omni-odometry

This is a shared library (set of header files and a shared binary object).

Odometry for omnidirectional robot

exported dependencies:

• from package robocop-core:
  • core

include directive :

In your code using the library:

#include <robocop/utils/omni_odometry.h>

CMake usage :

In the CMakeLists.txt files of your applications and tests, or those of your libraries that do not export the dependency:

PID_Component_Dependency(
				COMPONENT	your component name
				DEPEND	omni-odometry
				PACKAGE	robocop-omni-robot-controller)

In the CMakeLists.txt files of libraries exporting the dependency :

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	omni-odometry
				PACKAGE	robocop-omni-robot-controller)