README make instructions also for rai bare repo

Makefile

@@ -2,6 +2,8 @@ BASE = .
 
 target: src
 
+DEPEND = $(shell find rai -mindepth 1 -maxdepth 1 -printf "%f ")
+
 ################################################################################
 
 src_paths =  $(shell find rai -mindepth 1 -maxdepth 1 -type d -not -name 'retired' -printf "%f ")
@@ -16,6 +18,8 @@ initUbuntuPackages: force
 	@echo "##### calling make installUbuntu in each lib"
 	@find rai -mindepth 1 -maxdepth 1 -type d -exec make installUbuntu -C {} \;
 
+printUbuntu: $(DEPEND:%=inPath_printUbuntuPackages/%) printUbuntuPackages
+
 tests: $(test_paths:%=inPath_make/%)
 
 bin: $(bin_paths:%=inPath_make/%)

README.md

@@ -14,3 +14,23 @@ Parts of the code have there origin at around 2004 (Edinburgh). The code grew ov
 many projects from all lab members, but a somewhat consistent scope of code shared between projects. This repo exports a
 selection of the code shared between projects and contains a set of representations and methods for Robotics, ML and AI.
 As the functionality is diverse I don't even try to explain. The example projects will hopefully demonstrate it.
+
+## Quick Start
+
+```
+git clone [email protected]:MarcToussaint/rai.git
+# OR, if you don't have a github account:
+git clone https://github.com/MarcToussaint/rai.git
+cd rai
+
+# OPTIONAL! Often you will only need to compile some components and don't need all Ubuntu packages
+make -j1 printUbuntu  # to just print Ubuntu package dependencies per component
+make -j1 initUbuntuPackages  # calls sudo apt-get install; you can always interrupt
+
+cp build/config.mk.default build/config.mk # edit to modify dependencies
+make runTests                # compile and run the essential tests
+make bin                     # compile rai/bin/kinEdit and similar
+make                         # to compile all components (rarely necessary)
+```
+
+If interested in the kinematics part, check `rai/Kin/kin.h` and `test/Kin/*` to get started.

test/Kin/GJK_jacobians/main.cpp

@@ -43,7 +43,7 @@ void TEST(GJK_Jacobians) {
   TM_PairCollision dist(K, "s1", "s2", true);
   TM_PairCollision distVec(K, "s1", "s2", false);
 
-  for(uint k=0;k<1000;k++){
+  for(uint k=0;k<100;k++){
     //randomize shapes
     s1.mesh().clear();             s2.mesh().clear();
     s1.sscCore().setRandom();      s2.sscCore().setRandom();

test/Kin/dynamics/Makefile

@@ -1,6 +1,6 @@
 BASE = ../../..
 
-ODE = 1
+ODE = 0
 
 DEPEND = Geo Kin Core Algo Gui Optim
 

test/Kin/kin/Makefile

@@ -1,6 +1,6 @@
 BASE = ../../..
 
-ODE = 1
+ODE = 0
 
 DEPEND = Geo Kin Core Algo Gui Optim Plot