Difference between revisions of "KDL 1.0.2 Windows Install"
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<u>Note</u>: Depends on [[Eigen 2.0.12 Windows Install|Eigen]]. | <u>Note</u>: Depends on [[Eigen 2.0.12 Windows Install|Eigen]]. | ||
| − | To install KDL 1.0.2, click on the following link: http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz and save the file to a given folder. Extract its contents. | + | * To install KDL 1.0.2, click on the following link: http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz and save the file to a given folder. Extract its contents. |
| − | In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to "C:/Archivos de programa/Eigen/include" "C:/Archivos de programa/Eigen/include/eigen2" or "C:/Program Files/Eigen/include" "C:/Program Files/Eigen/include/eigen2". Then copy it to the CMake Modules directory (something like C:\Archivos de programa\CMake 2.6\share\cmake-2.6\Modules) to make it available system-wise. | + | * In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to "C:/Archivos de programa/Eigen/include" "C:/Archivos de programa/Eigen/include/eigen2" or "C:/Program Files/Eigen/include" "C:/Program Files/Eigen/include/eigen2". QUOTES ARE MANDATORY. Additionally you must change line 4 to: |
| + | SET(KDL_CFLAGS "${KDL_CFLAGS} -I\"${EIGEN2_INCLUDE_DIR}\"" CACHE INTERNAL "") | ||
| + | <!-- Then copy it to the CMake Modules directory (something like C:\Archivos de programa\CMake 2.6\share\cmake-2.6\Modules) to make it available system-wise.--> | ||
| − | Return to the KDL directory. Create a folder called build. Open CMake. Use the KDL folder full path in the first form slot (such as ''C:\robotsuc3mes\kdl-1.0.2''), and build full path in the second slot (such as ''C:\robotsuc3mes\kdl-1.0.2\build''). Press '''Configure''', '''Finish''' once selected VS2008, '''Configure''' again, then '''Generate''' once. Close CMake and browse to winbuild, open "Orocos-KDL.sln" and open it (it is a MS Visual Studio 2009 solution file). Change build type from '''Debug''' to '''Release'''. Press Build -> '''Build Solution'''. Right-click on '''INSTALL''' from the Solution Explorer of the left, and click on '''BUILD''' from the deployed menu. | + | * Return to the KDL directory. Create a folder called build. Open CMake. Use the KDL folder full path in the first form slot (such as ''C:\robotsuc3mes\kdl-1.0.2''), and build full path in the second slot (such as ''C:\robotsuc3mes\kdl-1.0.2\build''). Press '''Configure''', '''Finish''' once selected VS2008, '''Configure''' again, then '''Generate''' once. Close CMake and browse to winbuild, open "Orocos-KDL.sln" and open it (it is a MS Visual Studio 2009 solution file). Change build type from '''Debug''' to '''Release'''. Press Build -> '''Build Solution'''. Right-click on '''INSTALL''' from the Solution Explorer of the left, and click on '''BUILD''' from the deployed menu. |
| − | With that you have the dynamic but you still do not have the static library. You'll have to enter kdl-1.0.2\src\CMakeLists.txt, change SHARED to STATIC | + | * With that you have the dynamic but you still do not have the static library. You'll have to enter kdl-1.0.2\src\CMakeLists.txt, change SHARED to STATIC in line 7. Repeat the process of the last paragraph. |
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Latest revision as of 16:37, 27 October 2010
Note: Depends on Eigen.
- To install KDL 1.0.2, click on the following link: http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz and save the file to a given folder. Extract its contents.
- In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to "C:/Archivos de programa/Eigen/include" "C:/Archivos de programa/Eigen/include/eigen2" or "C:/Program Files/Eigen/include" "C:/Program Files/Eigen/include/eigen2". QUOTES ARE MANDATORY. Additionally you must change line 4 to:
SET(KDL_CFLAGS "${KDL_CFLAGS} -I\"${EIGEN2_INCLUDE_DIR}\"" CACHE INTERNAL "")
- Return to the KDL directory. Create a folder called build. Open CMake. Use the KDL folder full path in the first form slot (such as C:\robotsuc3mes\kdl-1.0.2), and build full path in the second slot (such as C:\robotsuc3mes\kdl-1.0.2\build). Press Configure, Finish once selected VS2008, Configure again, then Generate once. Close CMake and browse to winbuild, open "Orocos-KDL.sln" and open it (it is a MS Visual Studio 2009 solution file). Change build type from Debug to Release. Press Build -> Build Solution. Right-click on INSTALL from the Solution Explorer of the left, and click on BUILD from the deployed menu.
- With that you have the dynamic but you still do not have the static library. You'll have to enter kdl-1.0.2\src\CMakeLists.txt, change SHARED to STATIC in line 7. Repeat the process of the last paragraph.