CHIMP_JNI

A JNI-wrapper for the hierarchical hybrid planner CHIMP.

Installation

Java

Install java

sudo apt-get install openjdk-8-jdk

and add the line JAVA_HOME="/usr/lib/jvm/java-8-openjdk-amd64" to /etc/environment.

CHIMP

TODO:

Clone CHIMP

Build and create .jar

Set CLASSPATH to CHIMP.

chimp_jni

To compile and install chimp_jni:

cd ~
git clone http://git.hb.dfki.de/pbr/chimp_jni
mkdir chimp_jni_install
cd ~/chimp_jni
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=~/chimp_jni_install
make
make install

To be able to find chimp_jni in your projects, update your PKG_CONFIG_PATH:

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:~/chimp_jni_install/lib/pkgconfig

Because of the dependency to JNI, for which no pkg-config file is available, you have to add that dependency to your cmake:

find_package (Java REQUIRED)
find_package (JNI REQUIRED)
include (UseJava)
include_directories (${JNI_INCLUDE_DIRS})

You can now use

find_package(PkgConfig)
pkg_check_modules(CHIMPJNI REQUIRED chimp_jni)
include_directories(${CHIMPJNI_INCLUDE_DIRS})
link_directories(${CHIMPJNI_LIBRARY_DIRS})
target_link_libraries(foo ${CHIMPJNI_LIBRARIES} ${JNI_LIBRARIES})
add_definitions(${CHIMPJNI_CFLAGS_OTHER})

in your own cmake-project.