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hybrid-automaton-library

Library for creating feedback-based motion descriptions for robots.

Installation

Required 3rd party dependencies

  • Install boost (>= 1.54.0) e.g. libboost-dev
  • Install Eigen (>= ?) e.g. libeigen3-dev
  • Install tinyxml (for Hybrid Automaton) e.g. libtinyxml2-dev

Recommended 3rd party dependencies

  • Install doxygen
  • Install graphviz
  • Install log4cpp and compile into static library (on windows you will need Multi-threaded (Debug) Dll setting) e.g liblog4cpp5-dev

Installation on Linux

  • Build gmock and gtest

    cd $(GMOCK_ROOT)/gmock-1.7.0
mkdir build && cd build
cmake ..   #use  cmake .. -DCMAKE_BUILD_TYPE=DEBUG for a configuring a debug build
make
make install

  • Build hybrid_automaton

    cd $(hybrid_automaton_library_ROOT)
mkdir build && cd build
cmake ..    #-DUNIT_TESTS=ON  for compiling the unit tests
make
make doc
sudo make install   # sudo because it's copied to /usr/local/lib

Installation on Windows

  • Set $BOOST_DIR as environmental variable to the installation directory (s.t. boost/xxx.hpp will include headers)
  • Set $EIGEN_DIR as environmental variable to the installation directory (s.t. Eigen/xxx.hpp will include headers)
  • Set $LOG4CPP_INCLUDE_DIR and $LOG4CPP_LIB_DIR as environmental variables to the installation directory if you want to use log4cpp for logging
  • Build gmock and gtest
  • Build hybrid_automaton
    • Go to $(hybrid_automaton_library_ROOT)/
    • Create a folder "build" (or whatever you want)
    • Open CMake GUI in Admin mode
      • Where is the source code: $(hybrid_automaton_library_ROOT)/
      • Where to build the binaries: $(hybrid_automaton_library_ROOT)/build
    • Click Configure (select Visual Studio 9 2008 - Native compilers)
    • If you want to generate the unit tests look for the entry "UNIT_TESTS" and activate it. Then press "Confgure" again
    • Click Generate
    • Open VS 2008 admin mode, open solution $(hybrid_automaton_library_ROOT)/build/hybrid_automaton.sln
    • Build