eigen-qld provides an interface to use the QLD QP solver with the Eigen3 library.

You must first setup our package mirror:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can also choose the head mirror which will have the latest version of this package:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can then install the package:

sudo apt install libeigen-qld-dev python-eigen-qld python3-eigen-qld

Install the latest version using conan

conan remote add multi-contact https://api.bintray.com/conan/gergondet/multi-contact
# Install the latest release
conan install eigen-qld/latest@multi-contact/stable
# Or install the latest development version
# conan install eigen-qld/latest@multi-contact/dev

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++
• gfortran (-DUSE_F2C=OFF)
• gcc (-DUSE_F2C=ON)
• Boost >= 1.49
• Eigen >= 3.2

For Python bindings:

• Cython >= 0.20
• Eigen3ToPython (to use the python binding)

git clone --recursive https://github.com/jrl-umi3218/eigen-qld
cd eigen-qld
mkdir _build
cd _build
cmake [options] ..
make && make intall

By default, the build will use the python and pip command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

• PYTHON_BINDING Build the python binding (ON/OFF, default: ON)
• PYTHON_BINDING_FORCE_PYTHON2: use python2 and pip2 instead of python and pip
• PYTHON_BINDING_FORCE_PYTHON3: use python3 and pip3 instead of python and pip
• PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2: builds two sets of bindings one with python2 and pip2, the other with python3 and pip3
• BUILD_TESTING Enable unit tests building (ON/OFF, default: ON)
• USE_F2C Build with fortran source code translated in C (slower runtime) (ON/OFF, default: OFF).