Next Tutorial: C++ Get Started
These instructions are for installing only Gazebo Math. If you're interested in using all the Gazebo libraries, check out this Gazebo installation.
We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
Binary Installation
Ubuntu Linux
First install some necessary tools:
Then, setup your computer to accept software from packages.osrfoundation.org:
Install Gazebo Math:
Be sure to replace <#>
with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#>
but for lower versions you should use ign-math<#>
.
macOS
On macOS, add OSRF packages:
Install Gazebo Math:
Be sure to replace <#>
with a number value, such as 6 or 7, depending on which version you need.
Windows
Install Conda package management system. Miniconda suffices.
Create if necessary, and activate a Conda environment:
Install:
Be sure to replace <#>
with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#>
but for lower versions you should use ign-math<#>
.
Source Installation
Source installation can be performed by first installing the necessary prerequisites followed by building from source.
Prerequisites
Gazebo Math requires:
Ubuntu Linux
The optional Eigen component of Gazebo Math requires:
- Eigen. Refer to the Eigen Documentation for installation instructions. On Ubuntu systems,
apt-get
can be used to install Eigen:sudo apt-get install libeigen3-dev
The optional Ruby tests of Gazebo Math require:
- Ruby. Refer to the Ruby Documentation for installation instructions. On Ubuntu systems
apt-get
can be used to install Ubuntu Packageruby-dev
:sudo apt-get install ruby-dev - Swig. Refer to the Swig Documentation for installation instructions. On Ubuntu systems
apt-get
can be used to install Swig:sudo apt-get install swig
Windows 10
First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
The optional Eigen component of Gazebo Math requires:
- Eigen. Refer to the Eigen Documentation for installation instructions. On Windows, we will use
conda
to install Eigen:conda install eigen --channel conda-forge
Building from Source
Ubuntu
- Install tools sudo apt install -y build-essential cmake g++-8 git gnupg lsb-release wget
- Install dependencies sudo apt -y install \$(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | tr '\n' ' '))
- Clone the repository Be sure to replacegit clone https://github.com/gazebosim/gz-math -b gz-math<#>
<#>
with a number value, such as 1 or 2, depending on which version you need. From version 7 you should usegz-math<#>
but for lower versions you should useign-math<#>
. - Configure and build cd gz-mathmkdir buildcd buildcmake ..make
- Optionally, install sudo make install
macOS
- Clone the repository Be sure to replacegit clone https://github.com/gazebosim/gz-math -b gz-math<#>
<#>
with a number value, such as 1 or 2, depending on which version you need. From version 7 you should usegz-math<#>
but for lower versions you should useign-math<#>
. - Install dependencies Be sure to replacebrew install --only-dependencies gz-math<#>
<#>
with a number value, such as 1 or 2, depending on which version you need. From version 7 you should usegz-math<#>
but for lower versions you should useign-math<#>
. - Configure and build cd gz-mathmkdir buildcd buildcmake ..make
- Optionally, install sudo make install
Windows
- Navigate to
condabin
if necessary to use theconda
command (i.e., if Conda is not in yourPATH
environment variable. You can find the location ofcondabin
in Anaconda Prompt,where conda
). Activate the Conda environment created in the prerequisites:conda activate gz-ws Install dependencies
You can view available versions and their dependencies:
conda search libgz-math* --channel conda-forge --infoFrom version 7 you should use
gz-math<#>
but for lower versions you should useign-math<#>
. See the Conda release repository for more information.Install dependencies, replacing
<#>
with the desired version:conda install libgz-cmake<#> --channel conda-forge- Navigate to where you would like to build the library, and clone the repository. From version 7 you should use# Optionally, append `-b gz-math#` (replace # with a number) to check out a specific versiongit clone https://github.com/gazebosim/gz-math.git
gz-math<#>
but for lower versions you should useign-math<#>
. - Configure and build cd gz-mathmkdir buildcd buildcmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\installcmake --build . --config Release
- Optionally, install cmake --install . --config Release
Documentation
API and tutorials can be found at https://gazebosim.org/libs/math.
You can also generate the documentation from a clone of this repository by following these steps.
- You will need Doxygen. On Ubuntu Doxygen can be installed using sudo apt-get install doxygen
- Clone the repository git clone https://github.com/gazebosim/gz-math
- Configure and build the documentation. cd gz-math; mkdir build; cd build; cmake ../; make doc
- View the documentation by running the following command from the build directory. firefox doxygen/html/index.html
Testing
Follow these steps to run tests and static code analysis in your clone of this repository.
- Follow the source install instruction.
- Run tests. make test
- Static code checker. make codecheck
Ruby Tests
Usage
The C++ classes are available in Ruby code by interface files (.i
) used by swig to build a C++ extension module.
The interfaces and Ruby test codes are in the src
folder. To use a C++ class in Ruby you need to:
- Create an interface file describing the class as in Swig and Ruby reference at The Ruby-to-C/C++ Mapping
- Include the interface file in
/src/ing_math.i
- Create the Ruby file and import the class as in Swig and Ruby reference at C++ Classes
Tests
make test
already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using