** (DEPRECATED) ** Please use the new and improved ocra, ocra-recipes!
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[Installation instructions](#Build & Install)
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- core-framework
- wLQP-Control
- wocra
- quadprog
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- Ubuntu 12.04
- Ubuntu 14.04
- Debian 7
In theory any linux distro should work if the dependencies are met and don't conflict with any system libs/headers. If you manage to build, install and use OCRA in any other platform please let us know and we can add it to the list with any helpful notes you provide along with it.
For the rest of these instructions we are going to install ocra-core (among other things) to a special directory called ocra-install-dir which will be in our home folder. We start in the home directory of user, /home/{userName}. Remember throughout to replace {userName}, with your user name and no curly braces.
cd
mkdir ocra-install-dir
cd ocra-install-dir
mkdir -p include/eigen3_0_5 lib/pkgconfig
We need to set up the environment variables to point to this install directory.
nano ~/.bashrc
We are now in the nano text editor. Scroll down to the bottom and write the following lines:
export OCRA_INSTALL=/home/{userName}/ocra-install-dir
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:${OCRA_INSTALL}/lib/pkgconfig
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${OCRA_INSTALL}/lib
Press ctrl + x, answer Y to accept the changes and enter.
Now we have to source the .bashrc file to update the environment variables.
source ~/.bashrc
Ok, on to the good stuff!
ocra-core depends on Boost along with Eigen 3.0 and its unsupported template library LGSM.
If you are in linux and have apt-get you can install via:
sudo apt-get install libboost-devEasy-peasy.
Unfortunately ocra-core is incompatible with the current version, 3.2+, of Eigen. Specifically, the biggest issue is the use of <Ref> for passing Eigen objects as function arguments. Usage of <Ref> in any code linking to the ocra-core libs will break your build. As you can imagine this is somewhat of a sore point for us since we can't use all of the neat toys in Eigen 3.2+ but we are working on upgrading ocra-core. However, this process will be long so have patience grasshopper.
For now we must content ourselves with the following hack:
We have put a working copy of Eigen 3.0.5 in the git repository: https://github.com/ocra-recipes/eigen_3_0_5.git. Go ahead and clone it.
git clone https://github.com/ocra-recipes/eigen_3_0_5.git
cd eigen_3_0_5
We need to copy the eigen headers to the /ocra-install-dir/include/eigen3_0_5 directory.
cp Eigen/ unsupported/ ~/ocra-install-dir/include/eigen3_0_5
Finally we need to copy the pkg-config file.
cp eigen3.pc ~/ocra-install-dir/lib/pkgconfig
We need to customize this .pc file so open it in nano:
nano ~/ocra-install-dir/lib/pkgconfig/eigen3.pc
The file should look like this,
Name: Eigen3
Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms
Requires:
Version: 3.0.5
Libs:
Cflags: -I$EIGEN_ROOT -I$EIGEN_ROOT/unsupported
Where you see the variables $EIGEN_ROOT replace them with the path to eigen3_0_5
Name: Eigen3
Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms
Requires:
Version: 3.0.5
Libs:
Cflags: -I/home/{userName}/ocra-install-dir/include/eigen3_0_5 -I/home/{userName}/ocra-install-dir/include/eigen3_0_5/unsupported
Don't forget to replace {userName} with your user name.
Press ctrl + x, answer Y to accept the changes and enter.
To make sure everything went ok, run the following command in a terminal
pkg-config eigen3 --modversion --cflags
If you don't get the following output,
3.0.5
-I/home/{userName}/Install/include/eigen3_0_5 -I/home/{userName}/Install/include/eigen3_0_5/unsupported
Then something has gone terribly wrong! However, if you get this then you are all set for the real deal: ocra!
WARNING This is an experimental set of libs and there are no guarantees that they will not do damage to your computer. We take no responsibility for what happens if you install them. That being said, if you follow these instructions you should be fine.
Okay that's out of the way... phew!
So you have your dependencies installed and your package config files ready to go. Let's run through the whole process step by step.
First we clone the repo.
git clone https://github.com/ocra-recipes/ocra-core.git
cd ocra-core/
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=~/ocra-install-dir ..NOTE: If you do not set the install prefix then the default /usr/local/ will be used. Please don't do this!
Okay, let's build/install the darn thing already!
make installThat's it! The core framework is now built, installed and ready to rock!
Well now that you have ocra-core up and running, you probably want to try it out n'est pas? Well mosey on over to the ocra-wbi-plugins repo and follow the instructions.
Want to contribute? Maybe build a plugin or two? Read the Contributing section for details on how to interface with OCRA and use it for world domination.
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