Actin®  Version 5.1.0
Software for Robotics Simulation and Control
Building from the Actin SDK

Windows

Installation

Download and run the installer. Follow the installer wizard, read the EULA, and enter an installation directory when prompted.

Note
It is recommended to put the installer someplace where the user has full permissions. This is someplace other than C:/Program Files (i.e. C:/Energid/Installers/...).

Prerequisite Tools

  1. Install CMake (version 2.5 or above).
  2. Install Visual Studio (VS2013 or higher).
  3. python (>= 2.4 && < 3.0)
  4. Install git if building from a separate repository

Build Instructions

  1. Create a link from the ROOT installer directory (i.e. C:/Program Files (x86)/Energid/ Actin_4.1.12-20160425) to the desired working directory (ie: myRepo). This can be done as follows from the command prompt:
     $ cd C:/Program Files (x86)/Energid/Actin_4.1.12-20160425
     $ mklink /D myRepo D:/Energid/myRepo
    
  2. Launch CMake

    Set "Where is the source" to the ROOT installer directory

    Set "Where to build the binaries" to ROOT/build (see below)

  3. Add myRepo to the EC_REPOSITORIES
  4. Configure/Generate through Cmake.
  5. Go to ROOT/build and launch Energid.sln.
  6. In Visual Studio build the appropriate projects.
Note
Only RELEASE projects can currently be built.

Executables will be built into ROOT/build/bin. Before running an executable make sure to add the following to the Path environment variable under User variables: %EC_TOOLKITS%/../bin

Linux

Installation

Download and run the installer script from a terminal. Follow the prompts to read the EULA and enter an installation directory when prompted. The default location will be ~/Energid.

Prerequisite Tools

The following tools are required for building on Linux systems:

gcc
g++
make
python (>= 2.4 && < 3.0)
cmake (>= 2.5)

To install on Ubuntu systems, use the following command:

$ sudo apt-get install gcc g++ make python cmake

Prerequisite Libraries

The following libraries are required for building on Linux systems:

libx11-dev
nvidia-current-dev (or equivalent)
libglu1-mesa-dev
libgfortran
libxrender
libz
libbz2
libcurl

To install on Ubuntu systems, use the following command:

$ sudo apt-get install libx11-dev nvidia-current-dev libglu1-mesa-dev libgfortran3 libxrender1 libbz2-dev zlib1g-dev libcurl4-openssl-dev

Activate Actin license

Note
If licenseTool is not included in the installer, then this step is not needed.
If "Actin Viewer" license is already installed on this machine, then this step is not needed.

Launch licenseTool from the installer bin directory as root:

$ cd bin
$ sudo LD_LIBRARY_PATH=../lib ./licenseTool "Actin Viewer"

Enter the "License Number" for "Actin Viewer" and press the "Activate" button

Build Instructions

To build run the following command:

$ cd build && cmake .. && source SETUP.sh && make

Post Build Instructions

Create links to build binaries:

$ cd ../lib
$ find ../build/lib -maxdepth 1 -type f -exec ln -sf {} . \;

$ cd ../bin
$ find ../build/bin -maxdepth 1 -type f -exec ln -sf {} . \;
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.