The autopilotmath from nii-o9i2

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License: Apache License 2.0

CMake 0.24% Jupyter Notebook 90.79% C++ 5.38% Python 2.34% Makefile 0.96% C 0.17% Shell 0.01% HTML 0.11%

autopilotmath's Introduction

common_math

This project mainly conducts some common module tests of planning in automatic driving systems.

Ready:

1.prepare bench dependency

# Check out the library.
$ git submodule update --init --recursive
# Go to the library root directory
$ cd benchmark
# Make a build directory to place the build output.
$ cmake -E make_directory "build"
# Generate build system files with cmake, and download any dependencies.
$ cmake -E chdir "build" cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release ../
# or, starting with CMake 3.13, use a simpler form:
# cmake -DCMAKE_BUILD_TYPE=Release -S . -B "build"
# Build the library & install.
$ cmake --build "build" --config Release --target install

在/benchmark/CMakeLists.txt中修改一下:

option(BENCHMARK_DOWNLOAD_DEPENDENCIES "Allow the downloading and in-tree building of unmet dependencies" ON)
#option(BENCHMARK_ENABLE_GTEST_TESTS "Enable building the unit tests which depend on gtest" ON)
#option(BENCHMARK_USE_BUNDLED_GTEST "Use bundled GoogleTest. If disabled, the find_package(GTest) will be used." ON)

Refs: https://github.com/google/benchmark

2.prepare eigen dependency 在eigen文件夹中安装

    mkdir build
    cd build 
    cmake ..
    make install

3.prepare osqp dependency

Create build directory and change directory

cd osqp
mkdir build
cd build
#Create Makefiles

#In Linux and Mac OS run

cmake -G "Unix Makefiles" ..
#In Windows run

cmake -G "MinGW Makefiles" ..
#Compile OSQP

cmake --build .

# Install 

cmake --build . --target install