Author/Maintenance: Dominik Belter

This is the part of the Walkers library related to constraints modeling and evaluation using Gaussian Mixtures.

Installer

Installation instruction was tested on Ubuntu 18.04 operating system.

The clone_deps.sh script installs all required software from repositories, clones requires libraries and compiles them:

 $ mkdir ~/Sources
 $ cd ~/Sources
 $ git clone https://github.com/LRMPUT/constraintsGM
 $ mkdir ~/Libs
 $ cd ~/Sources/constraintsGM
 $ ./scritps/clone_deps.sh

Running the application

Run ./demoVisualizer to visualize the robot:

 $ cd ~/Sources/constraintsGM/build/bin     
 $ ./demoVisualizer

Run ./robotModelGM to create GM model of the robot (kinematic margin and self-collisions):

 $ cd ~/Sources/constraintsGM/build/bin
 $ ./robotModelGM

References

[1] Dominik Belter, Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-legged Walking Robots, 2019