Safety Constrained Shared Control (SCSC)

This repository is for running the SCSC algorithm in real-time using a commercial joystick controller to control the ball-in-bowl system.

Downloading Eigen

This repo uses the Eigen library available at https://eigen.tuxfamily.org/index.php?title=Main_Page. Version 3.4.0 is recommended. Take note of where you save these files and add the path (e.g., C:\...\eigen-3.4.0\eigen-3.4.0\Eigen) in steps 3d and 3e.

Visual Studio Setup

This repository utilizes Microsoft Visual Studio and OpenGL. To set up a new project in VS follow these steps:

0. Copy glut32.dll and glfw.dll into C:\Windows\SysWOW64 (You should only have to do this once per computer.)
1. Create an empty project in VS
2. Add main file to the Source folder
3. In Configuration Properties:
   a. Set target to console: Linker>System>SubSystem>Console (/SUBSYSTEM:CONSOLE)
   b. Turn incremental linking off: Linker>General>Enable Incremental Linking>No (/INCREMENTAL:NO)
   c. Add library files: Linker>Input>Additional Dependencies>Edit add glut32.lib and glfw3.lib
   d. Add directory containing library files to search path: VC++ Directories>Library Directories (e.g., C:\...\SafetyConstrainedSharedControl\Game Code)
   e. Add directory containing header files: VC++ Directories>Include Directories (e.g., C:\...\SafetyConstrainedSharedControl\Game Code)

File Paths

If you are using this repo on a different computer, the file path for the table texture will need to be updated at the top of texture.h.

Troubleshooting

If the contents of Game Code/stb are missing when cloning this repo, try git submodule update --init --recursive --remote.