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