pockerman / qubic_engine

Collection of C++ based algorithms on numerics, statistics, control, reinforcement learning, machine learning and robotics

Cubic Engine

Various algorithms on numerics, control, reinforcement learning and machine learning. The functionality is split into modules compiled into dynamic libraries. This is shown in the figure below

Dependencies

• A C++17 compatible compiler
• Boost C++ libraries
• Blaze library for linear algebra
• GTest if testing is enabled
• Trilinos if it is enabled.
• magic_enum only used if __GNUC__ >7
• Nlohmann JSON used for JSON support

Installation

Installing the libraries is done via a config_opts.json file. Some of the options are explained below.

• BUILD_LIBS Flag indicating if the python script should build the libraries
• CMAKE_BUILD_TYPE Build mode options RELEASE or DEBUG
• CMAKE_CXX_COMPILER C++ Compiler
• CMAKE_C_COMPILER C Compiler
• BLAZE_INCL_DIR Path to the blaze library
• NLOHMANN_JSON_INCL_DIR Path to the nlohman_json library
• GTEST_INC_DIR Path to GTest include directory
• GTEST_LIB_DIR Path to the GTest library "/home/alex/MySoftware/gtest/install/lib"
• USE_TRILINOS Flag indicating if Trilinos is to be used
• USE_TRILINOS_LONG_LONG_TYPE Flag indicating if C++ long long type is used with Trilinos
• TRILINOS_INCL_DIR Path to Trilinos header files
• TRILINOS_LIB_DIR Path to Trilinos libraries
• USE_OPEN_CV Flag indicating if OpenCV is to be used
• OPENCV_INCL_DIR Path to OpenCV headers
• CMAKE_INSTALL_PREFIX Where the libraries should be installed
• USE_DISCRETIZATION Generate CMakeLists for discretization library
• USE_NUMERICS Generate CMakeLists for numerics library
• USE_RIGID_BODY_DYNAMICS Generate CMakeLists for rigid body dynamics library
• USE_FVM Use finite volume method
• BUILD_KERNEL_TESTS Flag indicating if tests should be build
• BUILD_KERNEL_EXAMPLES Flag indicating if examples should be build
• USE_RL Flag indicating if RL library should be build
• USE_ML Flag indicating if ML library should be build
• USE_ESTIMATION Flag indicating if estimation library should be build
• USE_PLANNING Flag indicating if planning library should be build
• USE_CONTROL Flag indicating if control library should be build

After specifying the options, execute the configure.py script.

python configure.py

Documentation

You can find the HTML documentation here

Examples

You can find some example applications below

• kernel
• cengine

Images (some are simply wrong :) )