The biomechanical-analysis-framework projects contains a set of C++ libraries that can be used to estimate a human kinematics and dynamics quantities.

The dependencies can be installed in two ways; the first one is via conda creating a conda environment running the following steps.

• Clone the repo:

  git clone https://github.com/ami-iit/biomechanical-analysis-framework
  

• Create the conda environment from file

   cd biomechanical-analysis-framework
   conda env create -n <conda-environment-name> --file ci_env.yml
  

The second option is to install the dependencies via robotology-superbuild, making sure to enable the following CMake options:

• ROBOTOLOGY_ENABLE_DYNAMICS;
• ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS;
• ROBOTOLOGY_ENABLE_ICUB_HEAD;

Clone the repo (if not already done to install the dependencies) and create a build directory

git clone https://github.com/ami-iit/biomechanical-analysis-framework
cd biomechanical-analysis-framework
mkdir build
cd build

From the build directory, configure the CMake project and install it in the build/install directory:

cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" ..
make
make install

Once the installation is completed, append the following lines to your .bashrc:

BAF_INSTALL_DIR=<directory-where-you-downloaded-component_ifeel>element_wearable_sw/build/install
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BAF_INSTALL_DIR}/lib
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:${BAF_INSTALL_DIR}

⚠️ If on macOS, replace LD_LIBRARY_PATH with DYLD_LIBRARY_PATH in your .bash_profile

From the build directory, configure the CMake project and install it in the build/install directory as it follows:

cmake -G"Visual Studio 17 2022" .. 
cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" .
cmake --build . --config Release --target INSTALL

⚠️ Change Visual Studio 17 2022 according to your installed version.

Once the installation is completed, update the following environment variables:

• PATH
  Add <directory-where-you-downloaded-BAF>/build/install/bin