Robotics Brewing

A solver for Graph Inspection.

Dependencies

• C++ compiler supporting the C++14 standard and OpenMP (GCC recommended)
  • If you use Mac + clang, run brew install libomp using Homebrew.
• GNU Make
• CMake Version 3.24 or later
• CLI11 (included in this repository)
• Gurobi Optimizer: tested with
  • Version 11.0.1 on Mac/Linux
    • You may need to recompile libgurobi_c++.a. See the corresponding section in this file.
  • Version 9.0.3 on Linux

Testing dependencies

• lcov
• clang-format Version 11
  • Do not use the latest version.

Program usage

Operation	Command
Print help message	ip-solver --help
Print version	ip-solver --version

Build usage

Use make in this project directory.

Operation	Command
Build release version	make build (or make) $\to$ executable ip-solver will be generated in the build/Release/ip-solver directory
Build debug version	make build-debug $\to$ creates build/Debug/ip-solver
Run unit tests (C++)	make test or make test-cpp
Run specific unit tests (C++)	GTEST_FILTER='{TEST_NAME}.*' make test (Replace {TEST_NAME} with an actual name.)
Run unit tests with coverage (C++)	make test-cpp-cov
Run unit tests with coverage (Python)	make test-py
Run unit tests with PyTest options (Python)	PYTEST_OPTS='-k {TEST_NAME}' make test-py (specific tests) PYTEST_OPTS='--full-trace' make test-py (full trace)
Run unit tests with coverage (C++ and Python)	make coverage
Run unit tests with coverage (C++ and Python) and open results in HTML	make coverage-html
Clean build and coverage files	make clean
Open Jupyter Lab	make lab

How to recompile Gurobi C++ library

If you get a linker error with Gurobi, try the following steps.

• Assume Gurobi is installed in /Library/gurobi1101/macos_universal2.
• Using a command-line terminal, run: cd /Library/gurobi1101/macos_universal2/src/build.
• Edit Makefile accordingly.
  • If you are using clang, the default setting should be fine: C++ = g++.
  • If you are using GCC 13, set to C++ = g++-13.
• Run make.
• Copy the created file to the lib directory; run: sudo cp -i libgurobi_c++.a ../../lib/.

Reproducing paper experiemnts

• See https://github.com/TheoryInPractice/robotic-brewing/wiki/Paper-Experiments