This is a repository of 2-DOF manipulator example, written in plain C++ using the cpp-fmus framework.
- git
- conan>=2.0
- cmake>= 3.26.3
- gcc>=11 (Linux) or Build Tools for Visual Studio 2019 or 2022 (Windows)
After you check out this repository, provided you have aforementioned tools, you can just build the FMU:
Run buildfmu
Run buildfmu.cmd (or .\buildfmu.cmd).
manipulator.fmu will be created in cmake-build-release-(linux64|win64) directory.
You can find pre-built FMUs for Linux and Windows in Releases
You can now use the FMU for co-simulation in various tools.
We have tested this in the Simulation Trust Center, which uses the Open Simulation Platform software.
This code is distributed under the MIT license.
It makes use of cpp-fmus and xtensor-blas, which are also distributed under the MIT license.
The cpp-fmus framework makes use of cpp-fmu, which is distributed under the MPL license at https://github.com/viproma/cppfmu.