geometry_tools

A library of tools for (2D) geometry for robotic applications. Based on Eigen3. Contains helpers such as:

• Point: Represents a point (or a vector)
• Angle
• PointOriented: A point with an angle (a pose)
• Speed
• Path
• Trajectory

Installation

Install dependencies (Eigen3):

sudo apt update && sudo apt install libeigen3-dev

Configure, build and install:

mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=</path/to/your/workspace> ..
make -j4
make install  # May require 'sudo' depending on the workspace path you specified

Crosscompiling for ARM linux (e.g. raspberrypi)

Install dependencies (Eigen3), it is an header only library, so nothing particular for cross-compiling:

sudo apt update && sudo apt install libeigen3-dev

Configure, build and install:

mkdir buildarm && cd buildarm
export LINUX_ARM_TOOLCHAIN_PATH=</path/to/toolchain/folder>  # Optional, defaults to /usr/lib/ccache
cmake -DCMAKE_INSTALL_PREFIX=</path/to/your/workspace/armlinux> -DCROSSCOMPILE_ARM=ON ..
make -j4
make install