roboptim-tutorial

This repository contains exercises to learn how to use RobOptim. They are ordered by difficulty so please try to go through them in the suggested order.

How to use the tutorials?

To go though the tutorials, please first fork this repository (log in / create your GitHub acount if necessary).

Then, clone your fork on your local machine:

$ git clone --recursive [email protected]:your_username/roboptim-tutorial.git

If you do not want to create a fork on GitHub, you can simply clone the official repository:

$ git clone --recursive https://github.com/roboptim/roboptim-tutorial.git

Once this is done, compile this repository like you would compile any other RobOptim package:

$ mkdir _build
$ cd _build
$ cmake ..
$ make

The code should compile but all the examples will fail! This is normal, now you have to implement each exercise.

In each exerise directory, the README.md file describe what is expected from you in this exercise and what result you should obtain.

Try to implement what you can and if you are stuck, you can always ask for help on the support group:

https://groups.google.com/forum/#!forum/roboptim

Exercises

• The first step: implementing your own function
• Playing with RobOptim operators
• Implementing a simple optimization problem
• RobOptim Trajectory and the parametrized curves
• Spline optimization

For cheaters: checking up the solutions

Solutions are available in a different branch called "answers". Once you are done implementing the exercises, take a look at the reference implementation!