iamlab-cmu / pillar-state

Library for state space modeling with PILLAR.

pillar-state

Requirements

Platform Requirements

Supported Ubuntu version: 18.04

Supported Python versions: 3.6, 3.7

Install Protobuf

Instructions are also described: https://github.com/protocolbuffers/protobuf/blob/master/src/README.md

sudo apt install autoconf automake libtool curl make g++ unzip

Download the latest protobuf release (not pre-release) for all languages: https://github.com/protocolbuffers/protobuf/releases

For example, for release 3.12.4, download the protobuf-all-3.12.4.tar.gz file. Then extract it.

cd path/to/protobuf-3.12.4
./configure
make -j$(nproc)
make check -j$(nproc)
sudo make install
sudo ldconfig # refresh shared library cache.

Install Python with development libraries

For Python 3.6:

sudo apt install python3.6 python3.6-dev

For Python 3.7:

# (Optional) If Python 3.7 is not available by default for your distribution,
# you can add it to your apt repositories through this command:
sudo add-apt-repository ppa:deadsnakes/ppa
# ---------------------------------------------------------------------------

sudo apt install python3.7 python3.7-dev

Install other dependencies

The following installs dependencies that are separate from Protobuf:

sudo apt install libyaml-cpp-dev

(Recommended) Create and source virtual env

Create a Python virtual environment. The following commands will create a virtual environment named pillar-state in ~/envs. However, you can change the location or name of the virtual environment if you prefer.

virtualenv -p /usr/bin/{PY_VERSION} ~/envs/pillar-state

where {PY_VERSION} is one of:

• python3: Use default Python 3 version if you don't have a preference
• python3.6: Python 3.6
• python3.7: Python 3.7

Source the environment:

source ~/envs/pillar-state/bin/activate

This ensures that the pip install command in the next step installs to the correct environment.

Build

Clone this repo and its submodules:

git clone --recursive [e-mail]:iamlab-cmu/pillar-state.git

C++11

Note: You don't need to compile the C++ view if you're just using the Python view. The repo comes with prebuilt C++ shared libraries for Python.

Do this to build (optional -c | --clean):

./make_scripts/make_proto_cpp.sh --clean ./make_scripts/make_view_cpp.sh --clean

Run tests:

./cpp/build/pillar_state_test

Python

pip install -e python

Run Tests

C++

./cpp/build/pillar_state_test

Python

pytest --capture=no test/pillar_state_py_test.py