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| eigenpy | ||
| =========== | ||
| EigenPy | ||
| ====== | ||
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| Setup | ||
| ----- | ||
| **EigenPy** is an open source framework which allows to bind the famous [Eigen](http://eigen.tuxfamily.org) in Python as NumPy object (as matrix or array). | ||
| **EigenPy** also exposes the Geometry module of Eigen for easy code prototyping. | ||
| **EigenPy** also supports the basic matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, and etc. | ||
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| Before compiling this package, make sure to have initialized all git | ||
| submodules of this repo. To initialize the submodules when cloning the | ||
| repo, use: | ||
| ## Setup | ||
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| ```bash | ||
| git clone --recursive <git_url> | ||
| ``` | ||
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| To compile this package, it is recommended to create a separate build | ||
| directory: | ||
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| mkdir _build | ||
| cd _build | ||
| cmake [OPTIONS] .. | ||
| make install | ||
| The installation of **EigenPy** on your computer is made easy for Linux/BSD and Mac OS X environments. | ||
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| Please note that CMake produces a `CMakeCache.txt` file which should | ||
| be deleted to reconfigure a package from scratch. | ||
| ### Ubuntu | ||
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| #### Compiling for python3 on macOS | ||
| You can easily install **EigenPy** from binairies. | ||
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| Make sure you have boost for python3 installed. If you use homebrew, you can install it via `brew install boost-python3`. | ||
| #### Add robotpkg apt repository | ||
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| Assuming you have python2 and python3 installed on your system, you can compile for python3 using | ||
| 1. Check your distribution codename in a terminal with the following command: | ||
| ``` | ||
| $ lsb_release -c | ||
| Codename: xenial | ||
| ``` | ||
| 2. Add robotpkg as source repository to apt: | ||
| ``` | ||
| sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub xenial robotpkg' >> /etc/apt/sources.list.d/robotpkg.list" | ||
| ``` | ||
| 3. Register the authentication certificate of robotpkg: | ||
| ``` | ||
| curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add - | ||
| ``` | ||
| 4. You need to run at least once apt update to fetch the package descriptions: | ||
| ``` | ||
| sudo apt-get update | ||
| ``` | ||
| #### Install EigenPy | ||
| 5. The installation of **EigenPy** and its dependencies is made through the line: | ||
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| For Python 2.7 | ||
| ``` | ||
| sudo apt install robotpkg-py27-eigenpy | ||
| ``` | ||
| or for Python 3.{5,6,7} | ||
| ``` | ||
| cmake -DPYTHON_EXECUTABLE=`which python3` .. | ||
| sudo apt install robotpkg-py35-eigenpy | ||
| ``` | ||
| where 35 should be replaced by the python 3 you want to work this (e.g. `robotpkg-py36-eigenpy` to work with Python 3.6). | ||
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| In case you get an error as only the libraries for python2 are found, make sure macOS can find the python3 libraries. One way to ensure this is by adding a symbolic link to the python3 libraries like | ||
| ### Mac OS X | ||
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| The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/). | ||
| You just need to register the tap of the sofware repository. | ||
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| ``` | ||
| brew tap gepetto/homebrew-gepetto | ||
| ``` | ||
| ln -s /usr/local/Cellar/python/3.7.0/Frameworks/Python.framework/Versions/3.7/lib/libpython3.7.dylib /usr/loca/lib/libpython3.7.dylib | ||
| and then install **EigenPy** with: | ||
| ``` | ||
| brew install eigenpy | ||
| ``` | ||
| for Python 2.7 or: | ||
| ``` | ||
| brew install eigenpy-python3 | ||
| ``` | ||
| for Python 3 support. | ||
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| ## Credits | ||
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| The following people have been involved in the development of **EigenPy**: | ||
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| where the abolve file source path was determined by looking at the output of `brew ls --verbose python3 | grep libpython3`. | ||
| - [Justin Carpentier](https://jcarpent.github.io) (INRIA): main developer and manager of the project | ||
| - [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor | ||
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| ### Dependencies | ||
| If you have taken part to the development of **EigenPy**, feel free to add your name and contribution here. | ||
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| The matrix abstract layer depends on several packages which | ||
| have to be available on your machine. | ||
| ## Acknowledgments | ||
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| - Libraries: | ||
| - eigen3 | ||
| - System tools: | ||
| - CMake (>=2.6) | ||
| - pkg-config | ||
| - usual compilation tools (GCC/G++, make, etc.) | ||
| - Python 2.7 | ||
| - Boost python | ||
| The development of **EigenPy** is supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr) and the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr). |