C++ installation

Main authors: Fabrice Le Bars, Simon Rohou

This page describes how to install the C++ library on Linux, Windows, and macOS. Follow the steps outlined for your operating system.

Linux Installation

Install from packages (latest release)

This installation procedure is valid for Ubuntu (amd64, arm64), Debian (arm64, armhf) and possibly others. A Debian package is available for the last release 1.5.6 of the library:

sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list'
sudo apt update
sudo apt install libcodac-dev

Then, check your installation with the instructions of this page.

Warning

URL changed: Please uninstall before.

Uninstall Codac

To uninstall Codac, you might want to do the following:

sudo apt remove libcodac-dev libibex-dev
sudo rm -f /etc/apt/sources.list.d/ensta-bretagne.list
sudo apt update

Note also that ``libeigen3-dev` ` might have been installed as a dependency of Codac but might be also used by other software. You might want to keep it.

Standalone archives

Standalone archives exist also for all the supported configurations, e.g. for a Raspberry Pi running Raspberry Pi OS Bookworm 32 bit, download and extract codac_standalone_armhf_bookworm.zip from https://github.com/codac-team/codac/releases/latest/, then in the example folder run:

cmake . ; cmake --build . ; ./my_project

and check that the graphical output appears.

Install from the sources (latest developments)

If you prefer to use the latest development version, you can install Codac by compiling it from the source code.

Steps

1. Ensure the following prerequisites are met:

   • A C++ compiler supporting C++20 or later (e.g., GCC 11.0+, Clang 13.0+).

   • CMake 3.14 or higher.

   • Git (to clone the repository).

   These prerequisites can be installed directly with the command:

   sudo apt-get install -y g++ gcc cmake git
   

2. Install the IBEX dependency:

   Codac still uses some features of the IBEX library that you have to install first (currently, the only thing Codac uses from IBEX is a wrapper of the GAOL library). The last version of IBEX is maintained on this unofficial development repository:

   # Requirements to compile IBEX
   sudo apt-get install -y flex bison
   
   # Download IBEX sources from GitHub
   git clone -b master https://github.com/lebarsfa/ibex-lib.git $HOME/ibex-lib
   
   # Configure IBEX before installation
   cd $HOME/ibex-lib
   mkdir build ; cd build
   cmake -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Release ..
   
   # Building + installing
   make
   make install
   cd ../..
   

   For further CMake options, please refer to the IBEX documentation.

   Warning

   GAOL prerequisite: On some platforms, you might need to install manually MathLib and GAOL with CMake and specify where they are in order to build IBEX successfully and have accurate computations.

3. Install the Codac library:

   # The codac directory can be placed in your home, same level as IBEX
   git clone https://github.com/codac-team/codac $HOME/codac
   
   # Configure Codac before installation
   cd $HOME/codac
   # Get automatically pybind11 and eigen submodules:
   git submodule init ; git submodule update
   mkdir build ; cd build
   cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Release ..
   
   # Building + installing
   make
   make install
   cd ../..
   

4. Configure your system to find Codac:

   In case Codac and its dependencies have been installed locally on your system, you will have to configure your environment variables. This can be done temporarily with:

   export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/ibex-lib/build_install
   export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/codac/build_install
   

   … or permanently by updating your .bashrc file by appending the above commands.

5. Verify the installation (optional):

   To ensure that the installation has worked properly, the unit tests of the library can be run. For this, you have to configure CMake using the -DBUILD_TESTS=ON option, before compilation. Then, from the $HOME/codac/build directory:

   make test
   

6. Try an example (optional):

   You may want to try Codac by running one of the proposed examples. After the installation, you can run the following commands:

   cd $HOME/codac/examples/01_batman
   mkdir build ; cd build
   cmake ..
   make
   

   Before executing the example, you will have to launch the VIBes viewer. Then,

   ./codac_example
   

   You should obtain a graphical output corresponding to a curious set inversion.

Windows Installation

Install from packages (latest release)

Using MinGW

Check https://community.chocolatey.org/packages/codac.

Using Visual Studio

Download and extract e.g. codac_standalone_x64_vc17.zip (for Visual Studio 2022) from https://github.com/codac-team/codac/releases/latest, open example\CMakelists.txt, choose x64-Release configuration in Visual Studio (instead of x64-Debug), double-click on main.cpp in the Solution Explorer and then click on the green Start button, and finally check that the graphical output appears.

Note that in order to obtain graphical outputs, you will have to download and run https://github.com/ENSTABretagneRobotics/VIBES/releases/download/0.2.3/VIBes-0.2.3-win32.exe before running the project.

Install from the sources (latest developments)

You will probably need to install these prerequisites (assuming you already installed Chocolatey package manager):

choco install cmake git make patch winflexbison
choco install eigen

Then, install the desired compiler (e.g. choco install mingw --version=11.2.0.07112021).

Optionally, for Python binding (e.g. choco install python --version=3.10.4) and documentation:

choco install doxygen.install --version=1.13
choco install graphviz
python -m pip install --upgrade pip
pip install --upgrade wheel setuptools sphinx sphinx_rtd_theme furo sphinx-math-dollar sphinx_tabs breathe

The logic to follow will then be similar to Linux (note that for Visual Studio, commands such as make install need to be replaced with something similar to:

cmake --build . --config Release --target install

Warning

You might need to replace all occurences of PATH_SUFFIXES with something similar to PATHS ${CMAKE_CURRENT_LIST_FILE}/../../../../ PATH_SUFFIXES in all .cmake in codac/share/codac/cmake/ (where Codac was installed) if a CMake project that tries to use Codac appears to find its installation location but fails to configure the project properly.

macOS Installation

Install from packages (latest release)

Install Homebrew package manager and then build tools:

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
brew install wget autoconf automake libtool
brew install --cask cmake

Download and extract e.g. codac_standalone_arm64_monterey.zip from https://github.com/codac-team/codac/releases/tag/v1.5.6/, then in example folder run:

cmake . ; cmake --build . ; ./my_project

and check that the graphical output appears.

For macOS 12 Monterey

For macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use codac_standalone_x86_64_monterey.zip for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943.

Note that in order to obtain graphical outputs, you will have to download and run https://github.com/ENSTABretagneRobotics/VIBES/releases/download/0.2.3/VIBes-0.2.2-osx.dmg before running the project.

Install from the sources (latest developments)

The logic to follow will then be similar to Linux.

Optionally, for Python binding and documentation:

wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen
brew install graphviz
python -m pip install --upgrade pip
pip install --upgrade wheel setuptools sphinx sphinx_rtd_theme furo sphinx-math-dollar sphinx_tabs

Troubleshooting

If you encounter issues during the installation process, consider the following:

• ensure all prerequisites are installed and up to date.

• check the GitHub issues page for known problems.

If you need further assistance, reach out to the library maintainers via the GitHub repository’s issue tracker or email support at simon.rohou [at] ensta.fr.