# engineer_minimum_snap

**Repository Path**: xcy963/engineer_minimum_snap

## Basic Information

- **Project Name**: engineer_minimum_snap
- **Description**: 为了自动兑矿写的机械臂轨迹优化的最小snap
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-01
- **Last Updated**: 2025-07-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 说明平滑化算法一下这个

## 求解器osqp的安装
```bash
cmake .. -DCMAKE_INSTALL_PREFIX=/home/hitcrt/crt/test/cppmatplotlib/osqp/install
make -j20
make install 
```
## 在其他cmake的引用
1. 直接在终端指定也可以export CMAKE_PREFIX_PATH="/home/hitcrt/crt/test/cppmatplotlib/osqp/install/lib/cmake/osqp:$CMAKE_PREFIX_PATH"
```cmake
# 设置OSQP的安装路径（在osqp目录下的install文件夹）
set(OSQP_INSTALL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/osqp/install/lib/cmake/osqp")
message(STATUS "Please make sure OSQP has beeninstalled to: ${OSQP_INSTALL_DIR}")

list(APPEND CMAKE_PREFIX_PATH ${OSQP_INSTALL_DIR})
find_package(osqp CONFIG REQUIRED)
```