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# HUMP: a Human-like Upper-limb Motion Planner | ||
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This library is designed to generate human-like trajectories of the arms and the hands of humanoid robots. | ||
Human-like single-arm and dual-arm motion is planned with a naturalistic obstacles-avoidance mechanism. | ||
## Overview | ||
The purpose of this document is to provide a brief installation guide of the library, while more technical details are described in the [Wiki pages](https://github.com/zohannn/HUMP/wiki). | ||
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## Installation guide | ||
Folloe the instructions to guide your installation of the HUMP library. | ||
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### Dependencies | ||
1. Install the [Eigen libraries](http://eigen.tuxfamily.org/index.php?title=Main_Page). | ||
In Linux Mint anf Ubuntu , you can type: | ||
```Bash | ||
sudo apt install libeigen3-dev | ||
``` | ||
2. Install the [boost libraries](https://www.boost.org/). | ||
In Linux Mint anf Ubuntu, you can type: | ||
```Bash | ||
sudo apt-get install libboost-all-dev | ||
``` | ||
3. Install [Coinipopt](https://coin-or.github.io/Ipopt/) at the link [https://github.com/zohannn/CoinIpopt](https://github.com/zohannn/CoinIpopt) | ||
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Then, prepare your installation folders | ||
```Bash | ||
cd /home/${USER} | ||
git clone https://github.com/zohannn/HUMP.git | ||
cd HUMP | ||
``` | ||
### Debug | ||
```Bash | ||
mkdir Debug | ||
cd -DCMAKE_BUILD_TYPE=Debug .. | ||
make | ||
make test | ||
make doc | ||
``` | ||
### Release | ||
```Bash | ||
mkdir Release | ||
cd -DCMAKE_BUILD_TYPE=Release .. | ||
make | ||
make doc |