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Requirements

• Eigen2
• Orocos RTT for the Orocos RTT KDL plugin
• Sip 4.7.9 and python for the python bindings
• Cmake 2.6

Supported Platforms

• Linux
• Windows
• Mac

Getting the source

There are different ways for getting the software.

From debian/ubuntu packages

They will be available soon on the fmtc debian repos.

• liborocos-kdl : The KDL library
• liborocos-kdl-dev : The KDL library headers
• liborocos-kdl-python : The KDL python bindings
• liborocos-kdltk-gnulinux/liborocos-kdltk-lxrt/liborocos-kdltk-xenomai : The KDL RTT bindings
• liborocos-kdltk-corba-$(target) : The KDL RTT Corba bindings
• lots of -dev packages for the different RTT bindings packages

Latest svn revision tarball

• Get the tarball

Latest stable release

• Get the stable tarball

Developers version from trunk using svn

svn checkout http://svn.mech.kuleuven.be/repos/orocos/trunk/kdl

Installing source with CMake

• goto your kdl-dir
• create a build directory inside the kdl-dir and go inside:

mkdir <kdl-dir>/build ; cd <kdl-dir>/build

• Launch ccmake

ccmake ..

• configure [c], select the bindings you want to create, choose an appropriate installation directory
• configure [c], if rtt bindings selected set orocos-target and installation directory
• configure[c], generate makefiles [g]
• make, wait, install and check

make;make check;make install