mc_dynamic_polytopes

This library intends to wrap external polytope computations libraries to compute a DCM dynamic balance region for mc_rtc, intending to be used in a controller and providing GUI display of the regions. For now the computations are wrapped only around the politopix library

Dependencies

• mc_rtc
• the github port of politopix
• qhull

Installation

After installing the dependencies,

git clone git@github.com:Hugo-L3174/mc_dynamic_polytopes.git
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j8
sudo make install

Usage and exemple

In your mc_rtc controller's CMakeLists.txt, link the library mc_dynamic_polytopes::DynamicPolytope.

Here is an example of a simple controller using this library.