template

Table of Contents

• Description
• Dependencies
• Build
• Installation
• Usage

Description

Template is a template repository for C++ projects. It provides a basic structure for C++ projects, including a CMake build system, a basic directory structure.

Dependencies

Basic Environment

• cmake >= 3.21

Binary Packages

The following binary packages are required: eigen3.

These binary packages can be installed via:

sudo apt-get install libeigen3-dev

IRMV Packages

The following custom packages are required: imc.

These packages need to be obtained from the IRMV Lab.

Build

cmake -B build . -DCMAKE_BUILD_TYPE=Release
cmake --build build

Installation

You can install the provided package directly:

cd build && sudo make install

or you can create a Debian package and install it for convenient deployment:

cd build && cpack
sudo dpkg -i template-xxxx.deb

Usage

we need to install irmv_core, and some setting:

sudo ln -s /usr/local/include/irmv/third_party/plog /usr/local/include/plog

C++ Usage

c++ usage example can be found at test/test_example.cpp

One can compile own code via:

find_package(template REQUIRED)
add_executable(example example.cpp)
target_link_libraries(example template_interface)

Python Usage

We provide a Python interface for the trajectory generator. Users should first install the Python package (Pybind11 are required):

One can get the Pybind11 package via:

git submodule update --init --recursive

Then, users can install the Python package via

Notice that python install must be done after the build and install process, and the term "template" below should be replaced with your own project name

cd build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCOMPILE_template_PYBINDING=ON
make -j$(nproc) && sudo make install

pip install .

Then, users can use the Python interface according to example/example.py

Citation

If you use this code in your research, please cite the us as follows:

@misc{ZHOU2024template
    title={{TEMPLATE: IRMV CMAKE Template}}, 
    author={Zhou, Yixuan, and Wang, Hesheng}, 
    year={2024},
    url={https://github.com/IRMV-Manipulation-Group/TEMPLATE}
}