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The GraspIt! installation process consists of two steps. First, you must install a set of external libraries, listed below. The installation for each library is further detailed in the system specific sections of this installation guide. Then, you must compile the GraspIt! code itself and set up the environment variables.
GraspIt! needs the following external libraries:
The GraspIt! project information comes in the form of a cross-platform Qt project file, which is processed by QMake. Depending on your system, you will convert this into either a Makefile or a Microsoft Visual Studio project file.
Download Qt for C++ from the Qt website.
Follow the installation instructions (this usually amounts to just doing configure and make). The installation automatically goes to /usr/local/Trolltech/Qt-4.4.3, unless you specify a different installation path. Set the following environment variables:
On Ubuntu systems it is probably possible to get Qt from the package manager. We have not tested this, but you will probably need all of the following packages:
Download Coin3d from the Coin3D website and follow installation instructions. The examples below assume you choose to install Coin in /usr/local/Coin (i.e. use configure -prefix=/usr/local/Coin). Set the following environment variables:
Download SoQt from the Coin3D website and follow the installation instruction. The configure script needs the path to your Coin installation - e.g. configure -prefix=/usr/local/Coin. Then just type make install.
On Ubuntu, all you need to do is install the following packages form the package manager:
Download and unzip the GraspIt! code itself. Set the following environment variable:
Build QHull. Go to the $GRASPIT/qhull directory and type make.
Create the GraspIt! Makefile from the Qt project file. Edit $GRASPIT/graspit.pro to suit your system and installation needs. Then type qmake graspit.pro.
Build and go. From $GRASPIT/ type make.
We assume you are using the Microsoft Visual Studio compiler. Some of the paths provided as examples in this installer are taken from MS Visual Studio 2003; the change to your particular version of the compiler should be straightforward.
Download Qt for C++ from the the Qt website.
GraspIt! is currently tested using Qt 4.5.2. So far, we have had the best experience with the source code version of Qt, NOT any of the installers that come with pre-built binaries. On the Qt website, choose "Qt: Framework Only", then "Download Qt libraries 4.5 for Windows (166 Mb)" and finally click the link under "Source code available on this link:". Currently, the recommended download link that you will arrive at is http://get.qtsoftware.com/qt/source/qt-win-opensource-src-4.5.2.zip. However, this will change as new versions are added to the website. Unzip the archive to a directory of your choice.
Set the following environment variables:
You might also need to add to some compiler-specific paths to your environment variables. If Qt's configure script fails, try to look what file it failed to find, then add the respective path to either PATH, INCLUDE or LIB. Also be aware of where in the particular environment variable you add a certain path - when searching for a file, the system will use the first one that it finds, which might not be the one that you intended. Here are, as examples, the paths that need to be added when using MS Visual Studio 2003:
Follow the instructions provided with the Qt distribution for installing (note: installation might take a couple of hours). We recommend building both release and debug versions of Qt, so you have all your options for linking later on. Use configure -debug-and-release for that.
WARNING: Other programs use Qt binaries, and often include the Qt dll's (such as QtGui4.dll) in their distribution. If a path to some other version of a Qt dll exists in you PATH environment variable before $QTDIR/bin, the system will link GraspIt against the wrong version, often causing failure to run. To be sure that you are linking against the right dll's, put $QTDIR/bin at the beginning of your PATH.
Download Coin3d for your C++ compiler from the Coin3D website.
We have tested the installation of GraspIt! using Coin 2.4.6. If using MS Visual Studio 2003, we recommend downloading Coin 2.4.6 VC7 binaries, no installer.
Set the following environment variables:
Download SoQt from the Coin3D website.
You will need to build SoQt yourself from source code. The source code comes with MS Visual Studio solution files, choose the appropriate one depending on your compiler. Again, we recommend building both debug and release versions. After the build completes, take a look in $COINDIR/bin to make sure that the appropriate SoQt dlls (soqt1.dll and/or soqt1d.dll) have been built.
You will need to link GraspIt! against your favorite implementation of Lapack. This usually involves two steps: using a "wrapper" file so you can call Fortran functions from C code and linking against the correct library.
We have tested GraspIt! with two Lapack implementations:
If you install one of these two, you can use them as follows:
Unfortunately, it is possible that you might have to change these settings to get the installation to work on your system, or you might be using a different version of Lapack altogether. Due to the large number of possible configurations, we can not provide more in-depth guidelines. If linking against Lapack fails, please see the Windows-specific GraspIt! project file (graspit-lib-WINDOWS.pro), find the blas/lapack block, and try to adapt it to your settings.
Download and unzip the GraspIt! code itself. Set the following environment variable:
Build QHull. Open and build the MS Visual Studio solution $GRASPIT/qhull/windows/qhull.sln. Once again, we recommend building both debug and release versions. Make sure qhull.lib has been installed in the appropriate directory ($GRASPIT/qhull/windows/Debug and/or $GRASPIT/qhull/windows/Release).
Edit $GRASPIT/graspit.pro to suit your particular installation. Among other options, you can choose which version of Lapack to use. Then, create the GraspIt! MS Visual Studio project file from the Qt project file. Execute the following command from inside $GRASPIT in a command prompt:
qmake -t vcapp -o graspit.vcproj graspit.pro
This will create your GraspIt! MS Visual Studio project file. Open graspit.vcproj in MS Visual Studio. Build GraspIt! and run.
IMPORTANT: based on the choice of Debug vs. Release made in the graspit.pro file, make sure the appropriate configuration (Debug or Release) is also selected in MS Visual Studio. This ensures linking against the correct Qt libraries.
WARNING: it is not enough to switch between Debug and Release builds using only the option in in MS Visual Studio. This will link against the appropriate Qt libraries but NOT against the appropriate Coin, SoQt and QHull libraries! The correct way of choosing a Debug or Release build is to also edit the graspit.pro file.
Copyright (C) 2002-2009 Columbia University
| | | 2 Installation | Contents |