ReLe

REinforcement LEarning Library of Politecnico di Milano

Tutorial and reference documentation is provided here.

External dependencies

To properly compile the ReLe library you must install

• Armadillo (>=6.1)
• NLopt (>= 2.4.2)
• Boost (>= 1.53)

Linux

In many Linux distributions you can use the package manager to install them.

Ubuntu

apt-get install libboost-dev libboost-all-dev libnlopt-dev liblapack-dev libarmadillo-dev

Fedora

yum install boost-devel armadillo-devel openblas-devel lapack-devel

Mac OS X

The easiest way to compile the library in a MAC OS X environment is to use Homebrew, which provides a package manager for OS X. All the external libraries are available in the repository and can be installed using the following command

brew install boost homebrew/science/armadillo homebrew/science/nlopt

Homebrew provides also cmake package (brew install cmake).

Windows

Refer to the dedicated guide.

COMPILING

The system can be build using the ros build tool catkin. Just create a catkin workspace, put the content of this repository in the src repository and run catkin_make to build the system. check this tutorial to get more info on catkin.

The ReLe core library can be build also using plain cmake (without catkin). To build the core library, use the following commands:

mkdir ReLe
mkdir ReLe/build
mkdir ReLe/src
cd ReLe/src
git clone https://github.com/AIRLab-POLIMI/ReLe.git .
cd ../build
cmake ../src/rele
make

To install the library just use also the following command:

sudo make install

By default the library is installed in /usr/local/. You can change this by setting the cmake variable ${CMAKE_INSTALL_PREFIX}

Ros features will be disabled.