![]() |
FancySafeBot 0.0.1
A safe robotics library
|
Before you start using the Fancy Safe Bot (FSB) library, it's important to understand its purpose and how to integrate it into your project. The library requires you to specify the sizes of various components at compile time. It's therefore not not intended to be installed as a third party pre-compiled dependency, but rather as part of the source files for a specific robot.
It's recommended to use CPM.cmake to provide the library as though you called "add_subdirectory" in CMake. This is easiest when you only want to configure the library (see below) or use a specific version but don't want to modify the source code. If you want to modify the source code, see the Developer's Guide for more information.
In your CMake file, here is an example usage with CPM:
Configuration options set with prefix FSB_
are explained in the following section.
The core FSB library does not allocate any dynamic memory so you'll need to specify sizes for your robot application at compile time. The following table provides a description of the configuration parameters that need to be set and default values used for testing the library.
Parameter | Default | Description |
---|---|---|
FSB_CONFIG | "default" | Name of configuration. |
FSB_SIZE_BODIES | 11 | Number of bodies in kinematic tree describing the robot. Must be greater than 0 |
FSB_SIZE_JOINTS | 10 | Number of joints in kinematic tree. Must be greater than (N - 1) for N bodies |
FSB_SIZE_COORDINATES | 15 | Total number of generalized position coordinates for all joints in kinematic tree. |
FSB_SIZE_DOFS | 12 | Total number of degrees of freedom for all joints in kinematic tree. |
Example usage of the library can be found in the Example Projects section. You can also follow the Tutorials to learn how to use the library in a step-by-step manner.