Compiling a libbarrett example program

1. Open a terminal on the realtime computer that will run the WAM.
2. Change to the "libbarrett_examples" directory in your home folder:

   cd ~/libbarrett_examples/
   

3. Look over the README.txt file:

   less README.txt
   

4. Use the "cmake" program (​http://www.cmake.org/cmake/help/cmake2.6docs.html) to generate Makefiles for your system:

   cmake .      <-- IMPORTANT: Notice the '.' at the end of this command.
   

5. Use the "make" program to compile the example programs.
   1. Compile all examples:

      make
      

   2. Compile a specific example:

      make ex01_initialize_wam
      

      This uses the "libbarrett_examples/ex01_initialize_wam.cpp" file to create the "libbarrett_examples/ex01_initialize_wam" program.
6. Run the program:

   ./ex01_initialize_wam
   

7. Read the comments in the source code:

   less ex01_initialize_wam.cpp