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iDynTree InverseKinematics Example

This is an example of use of the iDynTree InverseKinematics

Compilation

Make sure that you installed iDynTree with the IDYNTREE_USES_IPOPT CMake option selected, and your iDynTree installation can be found by CMake's find_package, either because it is installed in a system location or because its installation prefix is present in CMAKE_PREFIX_PATH.

After that, the example can be compiled as any CMake project, for example on *nix systems:

mkdir build
cd build
cmake ..
make

For how to compile using IDEs, see https://cgold.readthedocs.io/en/latest/first-step.html .

No installation target is provided, as the example is meant to be run from the build directory.

Run the example

To run the example, go to the build directory and execute the iDynTreeExampleInverseKinematics executable. The executable assumes that a file kr16_2.urdf is available in the same directory where the executable as launched, so you need to launch the executable in its directory. The file kr16_2.urdf is downloaded by CMake during configuration.

For a detailed overview of the example, check its source code.