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Commit 0040f33f authored by Sylvain CALINON's avatar Sylvain CALINON
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New release from sandbox

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.gitignore 100644 → 100755
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
PROJECT(pbdlib)
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
find_package(Armadillo 4.4 REQUIRED)
set(CMAKE_MAJOR_VERSION 1)
set(CMAKE_MINOR_VERSION 0)
set(CMAKE_PATCH_VERSION 0)
INCLUDE(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
MESSAGE(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
FIND_PACKAGE(Armadillo 5.4 REQUIRED)
SET(CMAKE_MAJOR_VERSION 1)
SET(CMAKE_MINOR_VERSION 0)
SET(CMAKE_PATCH_VERSION 0)
INCLUDE_DIRECTORIES(include)
INCLUDE_DIRECTORIES(${ARMADILLO_INCLUDE_DIRS})
include_directories(include)
include_directories(${ARMADILLO_INCLUDE_DIRS})
ADD_LIBRARY(pbd
src/datapoints.cpp
......@@ -21,11 +34,39 @@ ADD_LIBRARY(pbd
src/lqr.cpp
src/hmm.cpp
src/hsmm.cpp
src/adhsmm.cpp
src/quaternion.cpp
src/trajgmm.cpp
src/mpc.cpp
src/trajMPC.cpp
src/tphsmm.cpp
src/tpdpgmm.cpp
src/trajdist.cpp
)
#Uncomment for debugging
#add_definitions(-g)
################################################################################
### Mac specific
################################################################################
if(APPLE)
set(ARMADILLO_LIBRARIES
${ARMADILLO_LIBRARIES}
lapack
blas)
include_directories(
/usr/local/include
)
link_directories(
/usr/local/Frameworks
/usr/local/lib
)
endif()
################################################################################
### samples
################################################################################
......@@ -34,15 +75,18 @@ IF (PBDLIB_BUILD_TEST)
ADD_SUBDIRECTORY(examples)
ENDIF ()
target_link_libraries(pbd ${ARMADILLO_LIBRARIES})
TARGET_LINK_LIBRARIES(pbd ${ARMADILLO_LIBRARIES})
# Copy data/ to build so that the examples can load from that location
FILE(COPY ${PROJECT_SOURCE_DIR}/data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/examples/)
################################################################################
### install
################################################################################
set(ROOT_INSTALL_LIBDIR lib)
set(ROOT_INSTALL_INCLUDEDIR include)
file(GLOB headers ${CMAKE_CURRENT_SOURCE_DIR}/include/pbdlib/*.h)
SET(ROOT_INSTALL_LIBDIR lib)
SET(ROOT_INSTALL_INCLUDEDIR include)
FILE(GLOB headers ${CMAKE_CURRENT_SOURCE_DIR}/include/pbdlib/*.h)
install(TARGETS pbd DESTINATION ${ROOT_INSTALL_LIBDIR})
install(FILES ${headers} DESTINATION ${ROOT_INSTALL_INCLUDEDIR}/pbdlib/)
INSTALL(TARGETS pbd DESTINATION ${ROOT_INSTALL_LIBDIR})
INSTALL(FILES ${headers} DESTINATION ${ROOT_INSTALL_INCLUDEDIR}/pbdlib/)
README.md
+ 12
− 4
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......@@ -14,12 +14,20 @@ To install these dependencies, you can run:
sudo apt-get install cmake liblapack3 liblapack-dev libopenblas-dev
```
If you don't have C++11 support, you can install it with:
```
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-4.9
```
The latest version of Armadillo can then be downloaded from [here](http://arma.sourceforge.net/download.html).
### Installation instructions
```
cd pbdlib
git clone git@gitlab.idiap.ch:rli/pbdlib-sandbox.git
cd pbdlib-sandbox
mkdir build
cd build
cmake ..
......@@ -28,7 +36,7 @@ sudo make install
```
A GUI can be used after installation of the library:
https://gitlab.idiap.ch/rli/pbdlib_gui
https://gitlab.idiap.ch/rli/pbdlib_gui_sandbox
### Test
......@@ -52,9 +60,9 @@ include_directories(include ${ARMADILLO_INCLUDE_DIRS})
The installation of PbDLib copies the header files to /usr/local/include, so the command include_directories(include)
adds this directory to the search path.
Header files can then be included in source code using:
Header files can then be included in source code, by using for example (for the GMM class):
```
#include "pbdlib/gmm.h" // includes header file of the GMM class
#include "pbdlib/gmm.h"
```
#### 2) Linking your program with PbD and Armadillo
......
data/adhsmm/ADHSMM_test_durMu.txt 0 → 100644
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− 0
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data/adhsmm/ADHSMM_test_durPriors.txt 0 → 100644
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data/adhsmm/ADHSMM_test_durSigma.txt 0 → 100644
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data/adhsmm/ADHSMM_test_mu.txt 0 → 100644
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8.330649 -10.226152 -21.643923 -5.522649 15.209979 12.934711 2.548406
17.167884 15.136602 -5.204755 -21.714712 -13.790094 -0.516919 0.287984
data/adhsmm/ADHSMM_test_priors.txt 0 → 100644
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1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
data/adhsmm/ADHSMM_test_sigma.txt 0 → 100644
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data/adhsmm/ADHSMM_test_testData.txt 0 → 100644
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data/adhsmm/ADHSMM_test_varnames.txt 0 → 100644
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− 0
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x1 x2
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data/data.csv 0 → 100644
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View file @ 0040f33f
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0.89702, 0.18575, 0.22186, -0.65565, -0.34255, -0.6347, 0.22345
0.89843, 0.1854, 0.22446, -0.65737, -0.34213, -0.63315, 0.22343
0.89973, 0.18711, 0.22462, -0.65782, -0.34162, -0.63328, 0.22253
0.90043, 0.18785, 0.22516, -0.65837, -0.34168, -0.6329, 0.2219
0.90017, 0.18765, 0.22483, -0.65817, -0.34185, -0.63294, 0.22211
0.9011, 0.189, 0.22453, -0.6582, -0.34138, -0.63347, 0.22122
0.90094, 0.18902, 0.22755, -0.66054, -0.34087, -0.631, 0.22209
0.90116, 0.19002, 0.22663, -0.66012, -0.34014, -0.6319, 0.22194
0.90106, 0.18968, 0.22693, -0.66016, -0.34059, -0.63164, 0.22184
0.90114, 0.19037, 0.2265, -0.66009, -0.34061, -0.63192, 0.22124
0.90144, 0.18984, 0.22706, -0.66038, -0.341, -0.63135, 0.22139
data/hsmm/HSMM_test2_durMu.txt 0 → 100644
+ 1
− 0
View file @ 0040f33f
49 39.667 39 34.667 38
data/hsmm/HSMM_test2_durSigma.txt 0 → 100644
+ 1
− 0
View file @ 0040f33f
29 12.333 22 14.333 17
data/hsmm/HSMM_test2_mu.txt 0 → 100644
+ 2
− 0
View file @ 0040f33f
-0.73986 -21.312 -2.6725 16.562 6.3776
16.538 -3.5265 -21.63 -8.3458 0.37231
data/hsmm/HSMM_test2_priors.txt 0 → 100644
+ 1
− 0
View file @ 0040f33f
1 0 0 0 0
data/hsmm/HSMM_test2_sigma.txt 0 → 100644
+ 2
− 0
View file @ 0040f33f
93.815 7.5348 7.2585 0.11544 85.661 -3.9117 13.396 3.602 23.068 1.2001
7.5348 6.8704 0.11544 76.008 -3.9117 5.5716 3.602 36.467 1.2001 0.76714
data/hsmm/HSMM_test2_testData.txt 0 → 100644
+ 2
− 0
View file @ 0040f33f
11.89 11.88 11.851 11.812 11.767 11.71 11.637 11.545 11.426 11.267 11.058 10.791 10.462 10.064 9.5977 9.0722 8.4899 7.8533 7.1702 6.4516 5.7085 4.9471 4.1748 3.4004 2.6189 1.8207 1.0127 0.20069 -0.61444 -1.4232 -2.2194 -2.9993 -3.7613 -4.504 -5.2216 -5.9061 -6.5623 -7.1953 -7.8057 -8.4012 -8.9916 -9.583 -10.175 -10.769 -11.371 -11.979 -12.588 -13.194 -13.799 -14.4 -14.989 -15.56 -16.109 -16.626 -17.101 -17.531 -17.918 -18.261 -18.557 -18.807 -19.012 -19.175 -19.305 -19.41 -19.496 -19.57 -19.632 -19.683 -19.725 -19.761 -19.793 -19.818 -19.834 -19.84 -19.83 -19.801 -19.753 -19.687 -19.595 -19.478 -19.337 -19.167 -18.964 -18.729 -18.458 -18.146 -17.79 -17.387 -16.942 -16.45 -15.923 -15.367 -14.78 -14.171 -13.552 -12.92 -12.273 -11.619 -10.957 -10.282 -9.5857 -8.8725 -8.1501 -7.4151 -6.6637 -5.9123 -5.1686 -4.4186 -3.673 -2.9423 -2.2281 -1.5244 -0.83779 -0.16886 0.4818 1.123 1.7608 2.3885 3.0124 3.6413 4.2702 4.8915 5.5179 6.1481 6.7742 7.3963 8.0058 8.5967 9.162 9.7016 10.218 10.708 11.168 11.598 11.996 12.357 12.684 12.974 13.229 13.445 13.624 13.769 13.882 13.964 14.018 14.039 14.029 13.995 13.939 13.863 13.768 13.652 13.51 13.342 13.154 12.953 12.744 12.526 12.3 12.063 11.818 11.563 11.298 11.023 10.736 10.433 10.117 9.7878 9.4412 9.0734 8.6792 8.2614 7.8253 7.3748 6.913 6.4459 5.9678 5.4787 4.9837 4.4882 3.998 3.5186 3.0521 2.6024 2.1719 1.7616 1.3798 1.034 0.72815 0.46829 0.2593 0.098194 -0.0198 -0.10251 -0.15107 -0.17088 -0.16396 -0.13779 -0.088331 0
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