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# biomechanical-analysis-framework | ||
# biomechanical-analysis-framework | ||
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The biomechanical-analysis-framework projects contains a set of C++ libraries that can be used to estimate a human kinematics and dynamics quantities. | ||
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## Dependencies | ||
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The dependencies can be installed in two ways; the first one is via `conda` creating a conda environment running the following steps. | ||
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* Clone the repo: | ||
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``` | ||
git clone https://github.com/ami-iit/biomechanical-analysis-framework | ||
``` | ||
* Create the conda environment from file | ||
``` | ||
cd biomechanical-analysis-framework | ||
conda env create -n <conda-environment-name> --file ci_env.yml | ||
``` | ||
The second option is to install the dependencies via [robotology-superbuild](https://github.com/robotology/robotology-superbuild/blob/master/README.md), making sure to enable the following CMake options: | ||
- `ROBOTOLOGY_ENABLE_DYNAMICS`; | ||
- `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS`; | ||
- `ROBOTOLOGY_ENABLE_ICUB_HEAD`; | ||
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## Install | ||
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Clone the repo (if not already done to install the dependencies) and create a `build` directory | ||
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``` | ||
git clone https://github.com/ami-iit/biomechanical-analysis-framework | ||
cd biomechanical-analysis-framework | ||
mkdir build | ||
cd build | ||
``` | ||
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### Linux/macOS | ||
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From the build directory, configure the CMake project and install it in the `build/install` directory: | ||
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```bash | ||
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cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" .. | ||
make | ||
make install | ||
``` | ||
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Once the installation is completed, append the following lines to your `.bashrc`: | ||
```bash | ||
BAF_INSTALL_DIR=<directory-where-you-downloaded-component_ifeel>element_wearable_sw/build/install | ||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BAF_INSTALL_DIR}/lib | ||
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:${BAF_INSTALL_DIR} | ||
``` | ||
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>:warning: If on macOS, replace LD_LIBRARY_PATH with DYLD_LIBRARY_PATH in your `.bash_profile` | ||
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### Windows | ||
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From the build directory, configure the CMake project and install it in the `build/install` directory as it follows: | ||
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```bash | ||
cmake -G"Visual Studio 17 2022" .. | ||
cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" . | ||
cmake --build . --config Release --target INSTALL | ||
``` | ||
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>:warning: Change Visual Studio 17 2022 according to your installed version. | ||
Once the installation is completed, update the following environment variables: | ||
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- `PATH` | ||
Add `<directory-where-you-downloaded-BAF>/build/install/bin` |
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include(FetchContent) | ||
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FetchContent_Declare( | ||
ResolveRoboticsURICpp | ||
GIT_REPOSITORY https://github.com/ami-iit/resolve-robotics-uri-cpp | ||
GIT_TAG v0.0.2 | ||
) | ||
FetchContent_MakeAvailable(ResolveRoboticsURICpp) | ||
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add_biomechanical_analysis_library( | ||
NAME ID | ||
PUBLIC_HEADERS include/BiomechanicalAnalysis/ID/InverseDynamics.h | ||
SOURCES src/InverseDynamics.cpp | ||
PUBLIC_LINK_LIBRARIES iDynTree::idyntree-estimation iDynTree::idyntree-high-level BipedalLocomotion::ParametersHandler | ||
PRIVATE_LINK_LIBRARIES BiomechanicalAnalysis::Logging | ||
PRIVATE_LINK_LIBRARIES BiomechanicalAnalysis::Logging ResolveRoboticsURICpp::ResolveRoboticsURICpp | ||
SUBDIRECTORIES tests) |
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