pockerman / qubic_engine Goto Github PK

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

Home Page: https://pockerman.github.io/cubic_engine_doc/

CMake 1.34% C++ 55.77% Python 4.72% Shell 0.01% Jupyter Notebook 9.20% HTML 28.42% Objective-C 0.52% C 0.02%

cpp numerics machine-learning filtering physics-simulation statistics reinforcement-learning-algorithms robotics control kalman-filter

qubic_engine's Introduction

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