ami-iit / biomechanical-analysis-framework Goto Github PK

License: BSD 3-Clause "New" or "Revised" License

CMake 28.60% C++ 71.40%

biomechanical-analysis-framework's Introduction

biomechanical-analysis-framework

The biomechanical-analysis-framework projects contains a set of C++ libraries that can be used to estimate a human kinematics and dynamics quantities.

Dependencies

The dependencies can be installed in two ways; the first one is via conda creating a conda environment running the following steps.

Clone the repo:

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, making sure to enable the following CMake options:

ROBOTOLOGY_ENABLE_DYNAMICS;
ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS;
ROBOTOLOGY_ENABLE_ICUB_HEAD;

Install

Clone the repo (if not already done to install the dependencies) and create a build directory

git clone https://github.com/ami-iit/biomechanical-analysis-framework
cd biomechanical-analysis-framework
mkdir build
cd build

Linux/macOS

From the build directory, configure the CMake project and install it in the build/install directory:

cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" ..
make
make install

Once the installation is completed, append the following lines to your .bashrc:

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}

⚠️ If on macOS, replace LD_LIBRARY_PATH with DYLD_LIBRARY_PATH in your .bash_profile

Windows

From the build directory, configure the CMake project and install it in the build/install directory as it follows:

cmake -G"Visual Studio 17 2022" .. 
cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" .
cmake --build . --config Release --target INSTALL

⚠️ Change Visual Studio 17 2022 according to your installed version.

Once the installation is completed, update the following environment variables:

PATH
Add <directory-where-you-downloaded-BAF>/build/install/bin

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giulioromualdi

biomechanical-analysis-framework's Issues

Define data type to be exposed in public API

I am opening this issue to define the data type to be exposed in the public API of our new library.

The choice discussed by @dic-iit/blf-developers in ami-iit/bipedal-locomotion-framework#63 back in time was to use Eigen data type, then become Eigen+ manif mostly. I think we can follow the same idea here.
Opinions around?

cc @Yeshasvitvs @traversaro @prashanthr05 @RiccardoGrieco @DanielePucci

Add minimum documentation

Basic documentation include:

README.md
CHANGELOG.md
.gitignore

Set up CI pipeline

Add orientation tasks to HumanIK

After a f2f discussion with @lrapetti, we decided that the first task that can be added to the class HumanIK is the orientation task of each node.

Add gravity and floor contact task to HumanIK

After having added the orientation task in HumanIK, I open this issue to add also the gravity task to the class. The idea is to import the gravityTask implemented in blf.

CC @traversaro @GiulioRomualdi