dynibo 0.5.2

Tree-structured robot kinematics and dynamics with runtime-size workspace APIs
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87

# Installation

Choose the package that matches the language used by your application.

## Rust

Add dynibo from crates.io:

```bash
cargo add dynibo
```

The supported Rust version and crate features are listed in the
[Rust API reference](https://docs.rs/dynibo).

## Python

Install the wheel from PyPI:

```bash
python -m pip install dynibo
```

The wheel contains a PyO3 extension that calls the Rust core directly. NumPy is
installed as its runtime array dependency.

## C and C++

### Prebuilt packages

Tagged releases provide prebuilt C/C++ packages for the operating systems and
CPU architectures listed in the
[GitHub Release assets](https://github.com/xiaojie-xue/dynibo/releases). Each
archive contains the shared library, C and C++ headers, pkg-config metadata,
CMake package configuration, and the project license. Download the matching
archive and compare its SHA-256 digest with the release's `SHA256SUMS`.

For example, extract the Linux x86-64 package and point CMake at the extracted
directory:

```bash
version=X.Y.Z
archive="dynibo-${version}-Linux-X64"
tar -xzf "${archive}.tar.gz"
cmake -S . -B build \
  -DCMAKE_PREFIX_PATH="$PWD/${archive}"
cmake --build build
```

The shared library directory must be available when running the application:

| Platform | Runtime library location |
| --- | --- |
| Linux | Add `<package>/lib` to `LD_LIBRARY_PATH` |
| macOS | Add `<package>/lib` to `DYLD_LIBRARY_PATH` |
| Windows | Add `<package>/bin` to `PATH` |

Prebuilt packages cover only the platforms and architectures named by their
archives. Build from source for other targets.

### Build from source

Building the C/C++ package requires Rust with Cargo and CMake 3.16 or newer:

```bash
cmake -S . -B build/c -DCMAKE_BUILD_TYPE=Release
cmake --build build/c --parallel
cmake --install build/c --prefix /opt/dynibo
```

Consume either the installed package or an extracted prebuilt package from
CMake:

```cmake
find_package(dynibo CONFIG REQUIRED)
target_link_libraries(my_robot PRIVATE dynibo::dynibo)
```

Pass the installation prefix or extracted package directory while configuring
the consumer:

```bash
cmake -S . -B build -DCMAKE_PREFIX_PATH=/opt/dynibo
```

C programs include `<dynibo/dynibo.h>`. C++ programs include
`<dynibo/dynibo.hpp>` and require C++17.