Import the package

You can import robocop-qp-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-qp-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-qp-controller VERSION 1.2)

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-qp-controller)

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

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

qp-core

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

Helper classes to help builing a Weighted/Hierarchical QP controller

exported dependencies:

• from package robocop-core:
  • core
• from package coco:
  • coco
• from package coco-phyq:
  • coco-phyq

include directive :

In your code using the library:

#include <robocop/controllers/qp-core/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	qp-core
				PACKAGE	robocop-qp-controller)

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

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	qp-core
				PACKAGE	robocop-qp-controller)

kinematic-tree-qp-controller

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

Generic QP controller for kinematic tree type robots

exported dependencies:

• from this package:
  • qp-core

include directive :

In your code using the library:

#include <robocop/controllers/kinematic-tree-qp-controller/qp.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	kinematic-tree-qp-controller
				PACKAGE	robocop-qp-controller)

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

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	kinematic-tree-qp-controller
				PACKAGE	robocop-qp-controller)

auv-qp-controller

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

Generic QP controller for Autonomous Underwater Robots ( AUVs )

exported dependencies:

• from this package:
  • qp-core

include directive :

In your code using the library:

#include <robocop/controllers/auv-qp-controller/qp.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	auv-qp-controller
				PACKAGE	robocop-qp-controller)

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

PID_Component_Dependency(
				COMPONENT	your component name
				EXPORT	auv-qp-controller
				PACKAGE	robocop-qp-controller)