Installation of the C++ interface

Note: The following steps are necessary if you intend to use the CommonRoad Drivability Checker from a C++ project. They are not necessary if you only intend to use the CommonRoad Drivability Checker from Python.

In order to install CommonRoad Drivability Checker, we first need to install essential third party libraries, followed by installation of optional third party libraries, and finally the installation of CommonRoad Drivability Checker itself. All required steps are described in the following sections.

Prerequisites

We assume that the following libraries are already installed on your system:

  • Eigen3 (version >=3.3.7 - preferably the newest version)

  • Boost libraries (version >= 1.58)

  • OpenMP (for the geometry submodule support)

For the documentation, we require the libraries Pandoc and Doxygen. All aforementioned libraries can be installed on Ubunutu via apt-get.

Installation of Essential Third Party Libraries and Packages

The following dependencies are not included in this repository and need to be installed externally, e.g. by using a package manager:

  • Boost (only Boost.Thread, Boost.Test, Boost.Filesystem)

  • Eigen

Installation on Linux (e.g. using apt-get for Debian derivatives):

$ sudo apt-get install build-essential cmake git wget unzip libboost-dev libboost-thread-dev libboost-test-dev libboost-filesystem-dev libeigen3-dev libomp-dev

Installation on macOS using Homebrew:

$ brew install cmake eigen boost

On macOS, it is also necessary to install the OpenMP library manually. The version of the OpenMP library must correspond to the version of the Apple C++ compiler currently installed on your Mac (g++ –version). One can download the corresponding version of the library from https://mac.r-project.org/openmp/ and follow the installation instructions.

The following third party libraries are included as submodules:

In order to initialize the bundled submodules, run the following commands in the root folder of the CommonRoad Drivability Checker:

$ git submodule update --init

N.B. If you are using Conda, make sure your environment is activated!

Installation of Optional Third Party Libraries

For the installation of CGAL, please refer to their website.

Installation of the CommonRoad Drivability Checker

After installing all essential third party libraries and packages, you can now install the CommonRoad Drivability Checker.

  1. Open your console in the root folder of the CommonRoad Drivability Checker.

  2. Create a build directory and change into it

    $ mkdir build-debug
$ cd build-debug

    NB: You can in theory use build as a name for the build folder, however keep in mind that Python’s setuptools will always use the build folder for their build process. This normally shouldn’t cause any issues since the file names used by setuptools don’t clash with any names CMake uses currently, but you should still consider using separate folders just in case.

  3. Decide on a install prefix path for the following commands. The Drivability Checker uses a superbuild system for first building the bundled third-party dependencies and then building the Drivability Checker itself.

    By default, CMake chooses /usr/local as the install prefix on Linux, a directory which normal users can’t write to (necessitating sudo). This is not a good idea however if your intention is to build the Drivability Checker for local development.

    Instead, consider using a sibling directory to the root Drivability Checker directory as the install prefix: For example, if you cloned the Drivability Checker repository to the path ~/commonroad/commonroad-drivability-checker, the suggested install prefix would be ~/commonroad/dist.

    If you want to use the CommonRoad Drivability Checker as a dependency in another project, you can then use find_package(DrivabilityChecker CONFIG) to discover the installed CommonRoad Drivability Checker. By setting CMAKE_PREFIX_PATH to the install prefix you gave to the CommonRoad Drivability Checker when invoking CMake on the downstream project, CMake will automatically discover it.

  4. Compile the CommonRoad Drivability Checker library by running

    $ cmake -DCMAKE_INSTALL_PREFIX=/install/prefix/see/note/above -DCMAKE_BUILD_TYPE=Release ..
$ cmake --build . -- -j JOB_COUNT
    Note that you have to replace

    • JOB_COUNT with the number of jobs you are willing to allocate to cmake, for example -j 2. Each job (possibly) will use a core, so specify this number according to your system and free cores.

  5. Install the CommonRoad Drivability Checker library by running

    $ cmake --install .