Getting Started
Installation and Configuration
Dependencies
Installing the dependencies
Installing ORCA
Testing your installation
What’s next?
Where to go from here?
Check out the examples
Want to use ORCA in you project?
Check out the API Documentation
ROS or OROCOS user?
API Reference
API Documentation
Building the documentation
How to build
Python dependencies
Doxygen
Building the docs with Sphinx
How to browse
Using ORCA in your projects
CMake
catkin
Examples
Basic
Simple controller
Simulating the controller performance
Intermediate
An introduction to the ORCA callback system
Using lambda functions in the callbacks
Gazebo
Simulating a single robot
Simulating multiple robots
Set robot state
Set robot state with gravity compensation
Using Gazebo to simulate an ORCA controller
Minimum jerk Cartesian trajectory following
Plotting
Using the internal plotting tools
Controller Formulation
Overview
Optimization Vector
Cartesian Acceleration
Dynamics Equation
License Information
License
ORCA
Docs
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Index
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Index
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