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2DoF manipulator example

This is a repository of 2-DOF manipulator example, written in plain C++ using the cpp-fmus framework.

Prerequisites

  1. git
  2. conan>=2.0
  3. cmake>= 3.26.3
  4. gcc>=11 (Linux) or Build Tools for Visual Studio 2019 or 2022 (Windows)

How to build

After you check out this repository, provided you have aforementioned tools, you can just build the FMU:

Linux

Run buildfmu

Windows

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

How to use

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.

License & dependencies

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.