Embedding libcmaes

[MRebolle]

Hello,

I want to use libcmaes (main reason is because it is written in c++ which I need) as an optimizer for robot controllers. For this I need to embed libcmaes into a large robot simulator framework that is written in python3.7. Is it possible to do that? so far my tries of including all the files into the simulator and modifying the CMakelist.txt have failed but I am not sure I am doing everything correctly since this is not my are of expertise. Is this even the correct approach?

[beniz]

Hi, first make sure you are building and using the Python bindings by following instructions from https://github.com/beniz/libcmaes#python-bindings

Additionnally, please make sure to look at the Python documentation here: https://github.com/beniz/libcmaes/wiki/Python-bindings

If for some reason you are having troubles with the bindings and Python 3.7, share all details (build logs, code using the bindings, errors, ...).

Good luck with your project, and thanks for using libcmaes !

[MRebolle]

I followed the instructions for MacOSx and after finishing with apparently no problem I cannot run the last test /opt/local/bin/python ptest_bounds.py The error I get is:

Traceback (most recent call last): File "ptest_bounds.py", line 1, in <module> import lcmaes ModuleNotFoundError: No module named 'lcmaes'

I am wondering if the command should be with python3 instead of python. All the libraries needed libraries are installed (including boost).

I re-run the ./configure step and this is my terminal ouput:
p058171:libcmaes tarigarma$ ./configure --with-eigen3-include=/opt/local/include/eigen3 CXXFLAGS="-I/opt/local/include -O3 -I/opt/local//Library/Frameworks/Python.framework/Versions/2.7/include -I/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/numpy/core/include" LDADD=-lgflags LDFLAGS="-L/opt/local/lib" BOOST_LDFLAGS=-L/opt/local/lib --enable-python PYTHON=/opt/local/bin/python PYTHON_EXTRA_LDFLAGS="-u _PyMac_Error" LDFLAGS="-L/opt/local/lib python-config --ldflags python-config --libs"
configure: libcmaes 0.9.5
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for a thread-safe mkdir -p... ./install-sh -c -d
checking for gawk... no
checking for mawk... no
checking for nawk... no
checking for awk... awk
checking whether make sets $(MAKE)... yes
checking whether make supports nested variables... yes
checking build system type... x86_64-apple-darwin17.7.0
checking host system type... x86_64-apple-darwin17.7.0
checking for clang++... clang++
checking whether the C compiler works... yes
checking for C compiler default output file name... a.out
checking for suffix of executables...
checking whether we are cross compiling... no
checking for suffix of object files... o
checking whether we are using the GNU C compiler... yes
checking whether clang++ accepts -g... yes
checking for clang++ option to accept ISO C89... unsupported
checking whether clang++ understands -c and -o together... yes
checking whether make supports the include directive... yes (GNU style)
checking dependency style of clang++... gcc3
checking for clang++... clang++
checking whether we are using the GNU C++ compiler... yes
checking whether clang++ accepts -g... yes
checking dependency style of clang++... gcc3
checking how to print strings... printf
checking for a sed that does not truncate output... /usr/bin/sed
checking for grep that handles long lines and -e... /usr/bin/grep
checking for egrep... /usr/bin/grep -E
checking for fgrep... /usr/bin/grep -F
checking for ld used by clang++... /Library/Developer/CommandLineTools/usr/bin/ld
checking if the linker (/Library/Developer/CommandLineTools/usr/bin/ld) is GNU ld... no
checking for BSD- or MS-compatible name lister (nm)... /usr/bin/nm -B
checking the name lister (/usr/bin/nm -B) interface... BSD nm
checking whether ln -s works... yes
checking the maximum length of command line arguments... 196608
checking how to convert x86_64-apple-darwin17.7.0 file names to x86_64-apple-darwin17.7.0 format... func_convert_file_noop
checking how to convert x86_64-apple-darwin17.7.0 file names to toolchain format... func_convert_file_noop
checking for /Library/Developer/CommandLineTools/usr/bin/ld option to reload object files... -r
checking for objdump... objdump
checking how to recognize dependent libraries... pass_all
checking for dlltool... no
checking how to associate runtime and link libraries... printf %s\n
checking for ar... ar
checking for archiver @file support... no
checking for strip... strip
checking for ranlib... ranlib
checking command to parse /usr/bin/nm -B output from clang++ object... ok
checking for sysroot... no
checking for a working dd... /bin/dd
checking how to truncate binary pipes... /bin/dd bs=4096 count=1
checking for mt... no
checking if : is a manifest tool... no
checking for dsymutil... dsymutil
checking for nmedit... nmedit
checking for lipo... lipo
checking for otool... otool
checking for otool64... no
checking for -single_module linker flag... yes
checking for -exported_symbols_list linker flag... yes
checking for -force_load linker flag... yes
checking how to run the C preprocessor... clang++ -E
checking for ANSI C header files... yes
checking for sys/types.h... yes
checking for sys/stat.h... yes
checking for stdlib.h... yes
checking for string.h... yes
checking for memory.h... yes
checking for strings.h... yes
checking for inttypes.h... yes
checking for stdint.h... yes
checking for unistd.h... yes
checking for dlfcn.h... yes
checking for objdir... .libs
checking if clang++ supports -fno-rtti -fno-exceptions... yes
checking for clang++ option to produce PIC... -fno-common -DPIC
checking if clang++ PIC flag -fno-common -DPIC works... yes
checking if clang++ static flag -static works... no
checking if clang++ supports -c -o file.o... yes
checking if clang++ supports -c -o file.o... (cached) yes
checking whether the clang++ linker (/Library/Developer/CommandLineTools/usr/bin/ld) supports shared libraries... yes
checking dynamic linker characteristics... darwin17.7.0 dyld
checking how to hardcode library paths into programs... immediate
checking whether stripping libraries is possible... yes
checking if libtool supports shared libraries... yes
checking whether to build shared libraries... yes
checking whether to build static libraries... yes
checking how to run the C++ preprocessor... clang++ -E
checking for ld used by clang++... /Library/Developer/CommandLineTools/usr/bin/ld
checking if the linker (/Library/Developer/CommandLineTools/usr/bin/ld) is GNU ld... no
checking whether the clang++ linker (/Library/Developer/CommandLineTools/usr/bin/ld) supports shared libraries... yes
checking for clang++ option to produce PIC... -fno-common -DPIC
checking if clang++ PIC flag -fno-common -DPIC works... yes
checking if clang++ static flag -static works... no
checking if clang++ supports -c -o file.o... yes
checking if clang++ supports -c -o file.o... (cached) yes
checking whether the clang++ linker (/Library/Developer/CommandLineTools/usr/bin/ld) supports shared libraries... yes
checking dynamic linker characteristics... darwin17.7.0 dyld
checking how to hardcode library paths into programs... immediate
checking whether clang++ supports C++11 features by default... no
checking whether clang++ supports C++11 features with -std=gnu++11... yes
checking for eigen3... checking for /opt/local/include/eigen3/Eigen... no
checking for /usr/local/include/eigen3... yes
checking Eigen/Dense usability... yes
checking Eigen/Dense presence... yes
checking for Eigen/Dense... yes
checking for main in -lgflags... yes
checking for main in -lglog... no
checking gtest/gtest.h usability... no
checking gtest/gtest.h presence... no
checking for gtest/gtest.h... no
checking for python... /opt/local/bin/python
checking for a version of Python >= '2.1.0'... yes
checking for the distutils Python package... yes
checking for Python include path... -I/opt/local/Library/Frameworks/Python.framework/Versions/3.7/include/python3.7m
checking for Python library path... -L/opt/local/Library/Frameworks/Python.framework/Versions/3.7/lib -lpython3.7m
checking for Python site-packages path... /opt/local/Library/Frameworks/Python.framework/Versions/3.7/lib/python3.7/site-packages
checking python extra libraries... -ldl -framework CoreFoundation
checking python extra linking flags... -u _PyMac_Error
checking consistency of all components of python development environment... yes
checking whether the Boost::Python library is available... yes
checking for exit in -lboost_python... no
checking for exit in -lboost_python... (cached) no
configure: error: boost python required for building the python wrapper
p058171:libcmaes tarigarma$ make
/Library/Developer/CommandLineTools/usr/bin/make all-recursive
Making all in src
make[2]: Nothing to be done for all'. Making all in tests make[2]: Nothing to be done for all'.
Making all in examples
make[2]: Nothing to be done for all'. make[2]: Nothing to be done for all-am'.

[beniz]

It seems you are missing boost_python library. Have you followed the section https://github.com/beniz/libcmaes/wiki/Building-libcmaes-on-Mac-OSX#build-python-bindings ?

[MRebolle]

The steps I followed from the link for the python bindings where these:

configure and compile:
./configure --with-eigen3-include=/opt/local/include/eigen3 CXXFLAGS="-I/opt/local/include -O3 -I/opt/local//Library/Frameworks/Python.framework/Versions/2.7/include -I/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/numpy/core/include" LDADD=-lgflags LDFLAGS="-L/opt/local/lib" BOOST_LDFLAGS=-L/opt/local/lib --enable-python PYTHON=/opt/local/bin/python PYTHON_EXTRA_LDFLAGS="-u _PyMac_Error" LDFLAGS="-L/opt/local/libpython-config --ldflags python-config --libs" make
run:
cd python export DYLD_LIBRARY_PATH=../src/.libs /opt/local/bin/python ptest_bounds.py

If I look in my system I see the boost libraries

$ brew list | grep "boost"
boost
boost-python
boost-python3
boost@1.60