--DEPRECATED-- libhatp, a C++ library to handle solution plans --DEPRECATED--

This page presents hatptester, a library that allow to handle the solution found by HATP.

There are several methods to install libhatp, we advise you to use the robotpkg method.

A quick setup guide (working with robotpkg) can be found here.

1. Prepare dependencies

libhatp depends on:

• boost (system and regex)

• Doxygen if the documentation as to be generated

If you are not used to install via commands, see the short summary in this Appendix.

If you use robotpkg (see below and recommended solution) all dependencies are correctly tackled.

2. Install libhatp

2.1. Using robotpkg (recommended)

If you want to use robotpkg, you can jump to hatpconsole install using robotpkg because libhatp is automatically installed if missing.

robotpkg is a set of build and packaging tools, inspired by pkgsrc, designed to build and install OpenRobots packages.

To get complete documentation on how-to use robotpkg please refer to: http://robotpkg.openrobots.org/install.html.

As of now (March 2014) libhatp is a work in progress in robotpkg/wip: see http://robotpkg.openrobots.org/robotpkg-wip.html.

cd <robotpkg>/wip/libhatp
make update

2.2. Prepare with archive packages

This method uses the tar.gz archive of the modules.

The archive is available at : http://www.openrobots.org/distfiles/libhatp/libhatp-LAST.tar.gz

tar -xzf libhatp-LAST.tar.gz
cd libhatp-<version>
mkdir build
cd build
cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>]
make
make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

2.3. Prepare from the Git repository

As last solution you can prefer to install libhatp from the Git repository to be up to date.

git clone git://git.openrobots.org/robots/hatp/libhatp
cd libhatp
mkdir build
cd build
cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>]
make
make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

3. API of libhatp

To see the current API, compile it from the Git or archive package version. Once libhatp is properlly compiled call:

cd <libhatp>/build
make doc

Now the documentation main page can be found in <libhatp>/doc/html/index.html.

4. Changelog

4.1. Version 1.0.0

• Add access to causal links
• Add documentation generation (Doxygen)
• Add API documentation autogeneration
• Add removeQuotes function
• Add access to plan status
• Fix compilation with new compiler
• Fix uninstall process
• Create FindlibHATP.cmake to help CMake find the package

• Change the name to libhatp

• Add package target

4.2. Version 1.0.2

• Enhance the packaging system
• Fix a bug a floating point representation

4.3. Version 1.1.0

• Install Findlibhatp.cmake in the default CMake module path

5. License, Troubleshooting and Maintainer

HATP is distributed under 2-clause BSD license. (See here for details.)

The page to report problems or for pull request: Openrobots/hatptester.

Current maintainer(s):

• Raphaël Lallement: raphael.lallement [at] laas.fr, Website.