Installation

Install cyecca from source using Poetry:

git clone https://github.com/CogniPilot/cyecca.git
cd cyecca
poetry install

Optional: Run tests to verify installation:

poetry run ./tools/test.sh

Dependencies

Core dependencies (automatically installed):

• casadi: Symbolic framework and optimization

• numpy: Numerical computing

• scipy: Scientific computing

• sympy: Symbolic mathematics

• beartype: Runtime type checking

• pydot: Graph visualization

Development dependencies:

• pytest: Testing framework

• black: Code formatting

• sphinx: Documentation generation

• jupyter: Interactive notebooks

ROS 2 Integration

For ROS 2 simulation and visualization:

1. Install ROS 2 (Humble or later)

2. Build the workspace:

   colcon build
   source install/setup.bash
   

3. Run simulations:

   ros2 launch cyecca rdd2_sim.xml
   ros2 launch cyecca fixedwing_sim.xml
   

See Examples for usage tutorials.