## Set some parameters for the page
#pragma section-numbers 2
#pragma keywords HATP, hatp, htn planning, hatpconsole, hatptester
#pragma description Homepage for HATP software, an open-source HTN task planner



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

||<bgcolor="#FF5555"> This module is no longer independant, it is integrated in the hatp_msgs library with the messages. ||

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.

||<bgcolor="#EEEEFF"> <<TableOfContents(3)>>||

{i} '''A quick setup guide (working with robotpkg) can be found [[HATP/run#quick_setup|here]].'''






== 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 [[HATP/install#appendix|Appendix]].''

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






== Install libhatp ==

=== Using robotpkg (recommended) ===

{i} If you want to use robotpkg, you can jump to [[HATP/hatpconsole#robotpkg_install|hatpconsole install using robotpkg]] because libhatp is automatically installed if missing.

`robotpkg` is a set of build and packaging tools, inspired by [[http://pkgsrc.se/|pkgsrc]], designed to build and install [[http://www.openrobots.org/wiki/OpenRobotsFrontPage|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
}}}

=== 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''


=== 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''








== API of libhatp ==

||<bgcolor="#FF5555"> Under construction ! ||

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`.


== Changelog ==

=== 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

=== Version 1.0.2 ===

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

=== Version 1.1.0 ===

 * Install Findlibhatp.cmake in the default CMake module path





== License, Troubleshooting and Maintainer ==

HATP is distributed under 2-clause BSD license. ([[http://opensource.org/licenses/BSD-2-Clause|See here for details.]])

The page to report problems or for pull request: [[https://git.openrobots.org/projects/hatptester|Openrobots/hatptester]].

Current maintainer(s):
 * '''Raphaël Lallement''': [[mailto:raphael.lallement [at] laas.fr|raphael.lallement [at] laas.fr]], [[http://homepages.laas.fr/rlalleme|Website]].
##Later can use <<MailTo(raphael DOT lallement AT laas DOT fr)>>