RobotCpp

Development Environment	g++	Make
Windows 10	9.2.0	GNU Make 3.81

This is a dynamic simulator targeting robot control applications. It is written in C++. The underlying dynamic systems library handles integration. Example classes are provided and they include equations of motions for different types of robots (e.g. simple wheel, pendulum, a vertical hopper ...). New controllers can be attached to example classes. Outputs are saved as csv files. The project contains python3+matplotlib based visualization for some of the examples.

Development Environment Setup

1. Install GNU Make from sourceforge.
2. Install Minimalist GNU for Windows from the organization's page.
3. Verify both installations on Windows 10 command line g++ --version and make --version.
4. (Optional) To visualize you will need python3 and matplotlib. Follow insturctions on matplotlib's web site for Windows 10 installation.

Building & Visualizing Examples

1. Open Windows 10 command line and change directory to root of the project.
2. Execute make to build all examples.
3. Execute make wheel_simple to build a specific example.
4. Change directory to _bin. Execute wheel_simple.exe. It will create an output csv.
5. Open figures\wheel_simple_plotter.py to visualize output data.
6. The binaries can be cleaned with make clean.