install-ompl-ubuntu.sh.in

#!/bin/bash

ubuntu_version=`lsb_release -rs | sed 's/\.//'`

install_common_dependencies()
{
    # install most dependencies via apt-get
    sudo apt-get -y update
    sudo apt-get -y upgrade
    # We explicitly set the C++ compiler to g++, the default GNU g++ compiler. This is
    # needed because we depend on system-installed libraries built with g++ and linked
    # against libstdc++. In case `c++` corresponds to `clang++`, code will not build, even
    # if we would pass the flag `-stdlib=libstdc++` to `clang++`.
    sudo apt-get -y install cmake pkg-config libboost-serialization-dev libboost-filesystem-dev libboost-system-dev libboost-program-options-dev libboost-test-dev libeigen3-dev libode-dev
    export CXX=g++
    export MAKEFLAGS="-j `nproc`"
}

install_python_binding_dependencies()
{
    sudo apt-get -y install python${PYTHONV}-dev python${PYTHONV}-pip
    # install additional python dependencies via pip
    sudo -H pip${PYTHONV} install -vU pygccxml pyplusplus
    # install castxml
    wget -q -O- https://data.kitware.com/api/v1/file/5b68c2c28d777f06857c1f48/download | tar zxf - -C ${HOME}
    export PATH=${HOME}/castxml/bin:${PATH}
    sudo apt-get -y install libboost-python-dev
    if [[ $ubuntu_version > 1710 ]]; then
        sudo apt-get -y install libboost-numpy-dev python${PYTHONV}-numpy
    fi
}

install_app_dependencies()
{
    sudo apt-get -y install python${PYTHONV}-pyqt5.qtopengl freeglut3-dev libassimp-dev python${PYTHONV}-opengl python${PYTHONV}-flask python${PYTHONV}-celery libccd-dev
    # install additional python dependencies via pip
    sudo -H pip${PYTHONV} install -vU PyOpenGL-accelerate
    # install fcl
    if ! pkg-config --atleast-version=0.5.0 fcl; then
        if [[ $ubuntu_version > 1604 ]]; then
            sudo apt-get -y install libfcl-dev
        else
            wget -O - https://github.com/flexible-collision-library/fcl/archive/0.5.0.tar.gz | tar zxf -
            cd fcl-0.5.0; cmake .; sudo -E make install; cd ..
        fi
    fi
}

install_ompl()
{
    if [ -z $2 ]; then
        OMPL="ompl"
    else
        OMPL="omplapp"
    fi
    wget -O - https://bitbucket.org/ompl/ompl/downloads/$OMPL-@PROJECT_VERSION@-Source.tar.gz | tar zxf -
    cd $OMPL-@PROJECT_VERSION@-Source
    mkdir -p build/Release
    cd build/Release
    cmake ../.. -DPYTHON_EXEC=/usr/bin/python${PYTHONV}
    if [ ! -z $1 ]; then
        # Check if the total memory is less than 6GB.
        if [ `cat /proc/meminfo | head -1 | awk '{print $2}'` -lt 6291456 ]; then
            echo "Python binding generation is very memory intensive. At least 6GB of RAM is recommended."
            echo "Proceeding with binding generation using 1 core..."
            make -j 1 update_bindings
        else
            make update_bindings
        fi
    fi
    make
    sudo make install
}

for i in "$@"
do
case $i in
    -a|--app)
        APP=1
        PYTHON=1
        shift
        ;;
    -p|--python)
        PYTHON=1
        shift
        ;;
    *)
        # unknown option -> show help
        echo "Usage: `basename $0` [-p] [-a]"
        echo "  -p: enable Python bindings"
        echo "  -a: enable OMPL.app (implies '-p')"
    ;;
esac
done


if [[ ! -z $PYTHON ]]; then
    # the default version of Python in 17.10 and above is version 3
    if [[ $ubuntu_version > 1704 ]]; then
        PYTHONV=3
    fi
fi

install_common_dependencies
if [ ! -z $PYTHON ]; then
    install_python_binding_dependencies
fi
if [ ! -z $APP ]; then
    install_app_dependencies
fi
install_ompl $PYTHON $APP