Robotsystem from Robot Group Leipzig: README Source File

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# README

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    00001 /** \file
    00002  * This file is used for the doxygen documentation.
    00003  */
    00004
    00005
    00006 /** \mainpage Documentation of lpzrobots
    00007
    00008 \par Organization:
    00009         University Leipzig \n
    00010         Institute for Computer Science  \n
    00011         Dept. Intelligent Systems \n
    00012         Prof. Dr.  Ralf Der \n
    00013         Research Group Neuroinformatics und Robotic
    00014
    00015 \par People:
    00016 Ralf Der, Georg Martius, Frank Hesse, Rene Liebscher,
    00017 Marcel Kretschmann, Dominic Schneider, Claus Stadler,
    00018 Frank Güttler
    00019
    00020 \section General
    00021
    00022 This is a collection of algorithms, simulations, and tools
    00023 developed by the robot group of the University Leipzig \n
    00024 (http://robot.informatik.uni-leipzig.de).
    00025 It consists of the following directories (click for details):
    00026   - \ref selforg : controllers together with a small framework for using them,
    00027         developed in the robotic group of Leipzig university
    00028         yielding at self-organized behaviour for various kinds of machines.
    00029   - \ref ode_robots : stuff needed for our ODE-simulations
    00030         (Open Dynamics Engine, see http://www.ode.org) such as robots,
    00031         obstacles, utils, our patches and stuff for visualization with OSG
    00032         (OpenSceneGraph, see http://www.openscenegraph.org)
    00033   - \ref matrixlib : comfortable matrix library used for calculations e.g. in our controllers
    00034   - \ref gnuplot : tool allowing you to use online gnuplot windows within your program
    00035         (using pipe for data handover), however \ref guilogger is more comfortable
    00036   - \ref guilogger : application that coordinates multiple gnuplot
    00037         windows and switches channels on or of, data is sent per pipe from your program
    00038
    00039
    00040 \section Requirements
    00041
    00042 You need the following software and libraries installed (Tested on Linux x86 machines)
    00043 - ODE see http://www.ode.org and augmented with our
    00044 \ref ode_robots/ode_patches "patches"
    00045 - OpenSceneGraph http://www.openscenegraph.org (version >= 0.9.8)
    00046   (Debian includes it in Etch (Testing) and higher)
    00047 - Qt library from http://www.trolltech.com for guilogger (version > 3.0)
    00048 - avr-gcc and avr-binutils. \n
    00049    SuSE packages under: http://robot.informatik.uni-leipzig.de/software/\n
    00050    Debian includes them in Etch (Testing)  and higher
    00051
    00052 \section Inst Installation & Startup
    00053
    00054 - Download source tar ball from
    00055   http://robot.informatik.uni-leipzig.de/software .
    00056 - Unpack file.
    00057 - Change into <tt> lpzrobots </tt> directory
    00058 - Call <tt> make </tt> to compile \ref matrixlib and \ref guilogger (not strictly necessary,
    00059   only for displaying parameters online)
    00060 - Call <tt> make install </tt> to copy <tt> guilogger/bin/guilogger </tt> into the
    00061   <tt>/bin</tt> folder of your home directory. (If this does not work copy by hand.)
    00062 - To start a simulation go into that simulation directory, call <tt>make</tt> and
    00063   <tt>start</tt>.
    00064   For example when you want to start the template_onerobot simulation type
    00065   <tt>cd ode_robots/simulations/template_onerobot</tt>, then call <tt>make</tt> and after
    00066   successful compilation type <tt>start</tt> to start the simulation
    00067 - The following command line options are available
    00068   (type start -h for the display of this options): \n
    00069   Usage: start [-g] [-l] [-r SEED] [-x WxH] [-pause] [-notex] [-noshadow] [-h]\n
    00070         \c -g           use guilogger\n
    00071         \c -l           use guilogger with logfile\n
    00072         \c -r \c SEED   use SEED as random number seed\n
    00073         \c -x \c WxH    window size of width(W) x height(H) is used (640x480 default)\n
    00074         \c -pause       start in pause mode\n
    00075         \c -notex       do not display textures\n
    00076         \c -noshadow    do not display shadows\n
    00077         \c -h           display this help
    00078 - Have a look at the console after starting the program,
    00079   there you will find some further information for the usage of the program.
    00080 - For starting your own simulation see paragraph "How to Start Your Own Simulation"
    00081   in \ref ode_robots .
    00082 - For a well documented examples of a main.cpp of a simulation and a robot .cpp file click
    00083   the tab "Examples" at the top of this page.
    00084
    00085
    00086 \section Documentation
    00087
    00088 - This manual can be found at http://robot.informatik.uni-leipzig.de/software
    00089 - More informations on the used self-organization algorithm is available at
    00090   http://robot.informatik.uni-leipzig.de/research
    00091 - The ODE tutorial of Marcel Kretschmann can be found at
    00092   http://robot.informatik.uni-leipzig.de/students \n
    00093   (Tar ball with pdf and example code also there available.)
    00094 - The original ODE documentation can be found at http://www.ode.org/ode-docs.html
    00095 - The OSG documentation can be found at  http://www.openscenegraph.org/osgwiki/pmwiki.php/Documentation/Documentation
    00096
    00097
    00098 */