HyLaGI - HydLa Guaranteed Implementation

HyLaGI is a C++ implementation of hybrid constraint language HydLa.

Email address: [email protected]

More information about HydLa: http://www.ueda.info.waseda.ac.jp/hydla/

Build

You can also use webHydLa to run HydLa programs without building HyLaGI on your own.

Required packages

• Git
• Make
• GCC or Clang, and Boost library
• Python
• Wolfram system (Mathematica, or WolframEngine)

Ubuntu 24.04 with GCC

1. Install required packages.

   sudo apt update
   sudo apt install -y git make g++ libboost-all-dev uuid-dev

2. Install and activate Mathematica.
   If you don't have Wolfram's license, you can use Free Wolfram Engine for Developers.
3. Set $MATHPATH (see What is MATHPATH? below).
   e.g., Wolfram Engine 14.2

   echo "export MATHPATH='/usr/local/Wolfram/WolframEngine/14.2'" >> ~/.bashrc
   source ~/.bashrc   # or restart the terminal

4. Library settings

   echo "$MATHPATH/SystemFiles/Links/WSTP/DeveloperKit/Linux-x86-64/CompilerAdditions" | sudo tee /etc/ld.so.conf.d/wstp.conf
   sudo ldconfig

5. Build HyLaGI.

   git clone https://github.com/HydLa/HyLaGI.git
   cd HyLaGI
   make -j 4 MATHPATH=$MATHPATH
   echo "export PATH='\$PATH:$MATHPATH/Executables:$(pwd)/bin'" >> ~/.bashrc
   source ~/.bashrc   # or restart the terminal

   Then, you can use hylagi command. For example:

   hylagi -p 6 examples/bouncing_particle.hydla

6. Run tests.
   By default, make test runs tests sequentially.
   If you want it to run in parallel, you can set the number of threads as follows:

   make test fnum=2

   Note that parallel execution may be restricted by your Wolfram license.

Other environments

HyLaGI supports several environments.

• OS: Ubuntu and macOS
• C++ compiler: Clang and GCC (default)

Build confirmed environment

• Ubuntu 22.04.1, GCC 11.3.0, Python 3.10.6
• Ubuntu 22.04.1, Clang 14.0.0, Python 3.10.6
• Ubuntu 24.04.2, GCC 13.3.0, Python 3.12.3
• Ubuntu 24.04.2, Clang 18.1.3, Python 3.12.3
• macOS 10.15.7, Apple clang 12.0.0, Python 3.6.9
• macOS 10.15.7, Apple clang 12.0.0, Python 3.8.5

Make options

To build several environments, you can set environment variables when you exec make.

Forcing to use GCC:

make -j 4 CC=gcc CXX=g++

Forcing to use clang:

make -j 4 CC=clang CXX=clang++

When using Python3 with python command:

make -j 4 PYTHON_CONFIG=python-config

What is MATHPATH?

MATHPATH is the path to the directory where the Wolfram system is installed.
You can see it in $InstallationDirectory.

$ math
Wolfram Language 14.0.0 Engine for Linux x86 (64-bit)
Copyright 1988-2023 Wolfram Research, Inc.

In[1]:= $InstallationDirectory

Out[1]= /usr/local/Wolfram/WolframEngine/14.0

Examples of MATHPATH:

• With WolframEngine 14.0: /usr/local/Wolfram/WolframEngine/14.0
• With Mathematica 12.1: /usr/local/Wolfram/Mathematica/12.1

Known issues

libc++abi: terminating with uncaught exception of type hydla::backend::LinkError: math link error: can not link : 1

HyLaGI uses the wolfram system to calculate constraints. It uses WSTP communication with the math command to make the call.

If you see this error, please make sure that the math command is installed and in the path. If the math command does not exist (as confirmed when using WolframEngine on MacOS), create a symbolic link to WolframKernel named math.

For users who have both clang and gcc installed (Ubuntu)

Where gcc and clang are both installed, Executing make with clang may cause errors claiming that some basic libraries are not found. Use g++ instead, or install a specific version of the standard library in the following way.

1. Run clang -v and check the dependent GCC version written at the end of the line: Selected GCC installation. (hereafter [version])
2. Install GNU libstdc++ of the version checked above.

apt install libstdc++-[version]-dev

or install the whole g++ compiler of the version.

apt install g++-[version]

3. Run make to build.

make CC=clang CXX=clang++

For developers

To format all files with clang-format

sudo apt install clang-format
find . -name "*.h" -o -name "*.cpp" | xargs clang-format -i -style=file --verbose

CI

CI supports only build (not include testing examples). If you want to test them, do make test after building HyLaGI on your terminal. See system_test/README.md for details.