ihmc-matrix-library

IHMC Matrix Library gathers utilities to improve experience the matrix library EJML.

Current develop status

Usage

Supported platforms:

• Linux (Ubuntu 20.04+ or similar x86_64, arm64)
• Windows (Windows 10+ x86_64)
• macOS (macOS 12+ Intel, Apple Silicon)

Requires Java 17.

Windows

Requires the installation of Visual C++ 2019 Redistributable (https://aka.ms/vs/16/release/VC_redist.x64.exe).

Development

To avoid conflicts, we rename the Eigen namespace to us_ihmc_matrix_library_vendor_matrix in "NativeMatrix.h". We then alias Eigen to us_ihmc_matrix_library_vendor_matrix (!). Do not include <Eigen/Dense> or any other Eigen libraries in any files other than the #define Eigen us_ihmc_matrix_library_vendor_matrix block in NativeMatrix.h.

Compilation

Use the cppbuild.bash script to compile for your local platform. This script is compatible with Linux, Windows, and macOS.

Compiling the native library locally should only be done during development of a new feature. For releases, use the GitHub action to build for all platforms.

Required Tools for Compiling

Linux:

• GNU C Compiler (g++)
• swig
• CMake

Windows:

• Visual Studio 2019
• swig
• CMake

macOS:

• XCode 1.13.1+
• swig
• CMake