https://github.com/simple-robotics/pinocchio-visualizers
A common interface and utilities for implementing visualizers for Pinocchio in C++.
https://github.com/simple-robotics/pinocchio-visualizers
Last synced: 6 months ago
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A common interface and utilities for implementing visualizers for Pinocchio in C++.
- Host: GitHub
- URL: https://github.com/simple-robotics/pinocchio-visualizers
- Owner: Simple-Robotics
- Archived: true
- Created: 2024-04-17T14:39:23.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2025-02-12T14:14:09.000Z (about 1 year ago)
- Last Synced: 2025-03-14T09:51:13.930Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 39.1 KB
- Stars: 9
- Watchers: 1
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
-----
## ARCHIVED
This repository has been archived. Development continues as part of [Pinocchio itself](https://github.com/stack-of-tasks/pinocchio"), see the Pinocchio issue https://github.com/stack-of-tasks/pinocchio/issues/2573.
-----
# pinocchio-visualizers
This package aims to provide basic functionality and common interfaces for visualizers (in C++/Python) for the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) rigid-body dynamics library.
## Dependencies
- [Pinocchio](https://github.com/stack-of-tasks/pinocchio), of course (built with ~~HPP-FCL~~ Coal support)
- A C++17 compliant compiler
## Usage in your source files
In exactly **one** file in your application (or its target dependencies), include the main header with the definition to pull in the implementation:
```cpp
#define PINOCCHIO_VISUALIZERS_IMPLEMENTATION
#include
```
## Usage in a CMake project
### Installed
The library (sources and CMake target files) can be installed following:
```bash
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . --target install
```
Then, the CMake targets can be found through `find_package(pinocchio-visualizers)`.
After acquiring the target, link to it:
```cmake
target_link_libraries(mytarget [PUBLIC|PRIVATE|INTERFACE] pinocchio-visualizers::pinocchio-visualizers)
```
### As a submodule
In your own repository, you can add it as a submodule:
```bash
git submodule add https://github.com/Simple-Robotics/pinocchio-visualizers
```
and in CMake, add it as a subdirectory before using the target:
```cmake
add_subdirectory(pinocchio-visualizers)
```