/moos-ivp-pLearn

A platform integrating Reinforcement Learning with MOOS-IvP

Primary LanguageShell

MOOS-IvP pLearn

Author: Arjun Gupta

Introduction

The moos-ivp-pLearn repository is an extension of MOOS-IvP, a powerful marine autonomy library

Directory Structure

The directory structure for the moos-ivp-extend is decribed below:

  • bin: Directory for generated executable files
  • build: Directory for build object files
  • build.sh: Script for building moos-ivp-pLearn
  • CMakeLists.txt: CMake configuration file for the project
  • lib: Directory for generated library files
  • README: Contains helpful information - (this file).
  • src: Directory for source code
  • pLearn: Directory for Reinforcement Learning scripts
  • docs: Contains Documentation and Instructions for using pLearn toolbox

Build Instructions

The pLearn toolbox has many dependencies, including MOOS-IvP and Python2.7. Please view the documentation for a detailed explanation of how to setup the build environment before continuing.

Linux and Mac Users

To build on Linux and Apple platforms, execute the build script within this directory:

   $ ./build.sh

To build without using the supplied script, execute the following commands within this directory:

   $ mkdir -p build
   $ mkdir lib
   $ cd build
   $ cmake ../
   $ make
   $ cd ..

Windows Users

To build on Windows platform, open CMake using your favorite shortcut. Then set the source directory to be this directory and set the build directory to the "build" directory inside this directory.

The source directory is typically next to the question: "Where is the source code?"

The build directory is typically next to the question: "Where to build the binaries?"

Alternatively, CMake can be invoked via the command line. However, you must specify your gernerator. Use "cmake --help" for a list of generators and additional help.

Environment variables

The moos-ivp-extend binaries files should be added to your path to allow them to be launched from pAntler.

In order for generated IvP Behaviors to be recognized by the IvP Helm, you should add the library directory to the IVP_BEHAVIOR_DIRS environment variable.