mola

A Modular Optimization framework for Localization and mApping (MOLA)

This repository holds the MOLA git superproject.

Refer to the official documentation for instructions, demos, API reference, etc.

Building

Getting the sources

git clone --recurse-submodules https://github.com/MOLAorg/mola.git

Requisites

CMake >=3.4
A C++17 compiler. Either gcc-7, clang-4 or MSVC 2017 are good.
Library dependencies: For Ubuntu, install them all with:

# MRPT >1.9.9, for now from this PPA (or build from sources if preferred):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev mrpt-apps

# Boost, yaml-cpp, etc:
sudo apt install libboost-serialization-dev libboost-system-dev \
  libboost-filesystem-dev libboost-thread-dev libboost-program-options-dev \
  libboost-date-time-dev libboost-timer-dev libboost-chrono-dev \
  libboost-regex-dev
sudo apt install libyaml-cpp-dev

Build

Classic cmake stuff:

cmake -H. -Bbuild
cmake --build .

Run demos

Read the documentation.

About the directory structure

Directories layout is as follows:

cmake-modules: Extra CMake scripts
demos: Example YAML files for mola-launcher
doc: Documentation and placeholder for Doxygen docs.
externals: All external depedencies

How to generate the docs

Requisities

sudo apt install python3-pip
sudo -H pip3 install sphinx_rtd_theme

Generate docs

cd mola/..
mkdir mola-www
sphinx-build -b html mola/docs/source/ mola-www/

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.

Kelvinson/mola