Quick Start¶

Get limbo¶

To get limbo, simply clone the source code from https://github.com/resibots/limbo with git, or download it as a zip.

Install the dependencies:¶

For Ubuntu:

apt-get install libeigen3-dev libboost-serialization-dev libboost-filesystem-dev libboost-test-dev libboost-program-options-dev libboost-thread-dev libtbb-dev

For OSX with brew:

brew install eigen3
brew install boost

We highly recommend that you install NLOpt. Unfortunately, the Ubuntu packages do not provide NLOpt’s C++ bindings. You can get NLOpt here: http://ab-initio.mit.edu/wiki/index.php/NLopt [mirror: http://members.loria.fr/JBMouret/mirrors/nlopt-2.4.2.tar.gz]

For Ubuntu / Debian:

sudo apt-get -qq update
sudo apt-get -qq --yes --force-yes install autoconf automake
wget http://members.loria.fr/JBMouret/mirrors/nlopt-2.4.2.tar.gz
tar -zxvf nlopt-2.4.2.tar.gz && cd nlopt-2.4.2
./configure -with-cxx --enable-shared --without-python --without-matlab --without-octave
sudo make install
sudo ldconfig
cd ..

For OSX:

wget http://members.loria.fr/JBMouret/mirrors/nlopt-2.4.2.tar.gz
tar -zxvf nlopt-2.4.2.tar.gz && cd nlopt-2.4.2
./configure --with-cxx --enable-shared --without-python --without-matlab --without-octave
sudo make install
cd ..

For more options and troubleshooting, see the Compilation tutorial.

Compile Limbo¶

To get limbo, simply clone the source code from https://github.com/resibots/limbo with git, or download it as a zip. To compile it:

./waf configure
./waf build

For more options and troubleshooting, see the Compilation tutorial.

Create a new experiment¶

./waf --create test

See the Framework guide

Edit the “Eval” function to define the function that you want to optimized¶

$EDITOR exp/test/test.cpp

The part to edit is between line 56 and line 63:

Eigen::VectorXd operator()(const Eigen::VectorXd& x) const
{
    double y = 0;
  // YOUR CODE HERE
  // ...
  // return a 1-dimensional vector
  return tools::make_vector(y);
}

By default limbo optimizes in \([0,1]\). For more information, see the Basic example.

Build your experiment¶

./waf --exp test

Run your experiment¶

build/exp/test/test

Analyze the results¶

The results are in yourcomputer-date-hour-pid. For instance: wallepro-perso.loria.fr_2016-09-15_19_43_50_74198.