Install BFL itself

Now we arrived to the installation of the BFL library itself. BFL is available from our subversion server, or as a tarbal.

1. First go to the $\mathtt{\tilde{ }}$/sources/ folder:

     cd ~/sources/
   

2. Then, to get a copy of BFL, use
   • For subversion access:

       svn co http://svn.mech.kuleuven.be/repos/orocos/trunk/bfl
     

   • To extract a BFL tarbal you got from the website:

       tar xvf orocos-bfl.tar.gz
     

3. Now create and go to a build directory in /sources/bfl

     mkdir ~/sources/bfl/build
     cd ~/sources/bfl/build
   

4. If you've installed one of the dependencies in a non-standard (where your compiler doesn't look by default) location, set the following environment variables to point to the appropriate directories (Don't bluntly copy the statements below)

     export CMAKE_INCLUDE_PATH=/path/to/installed/library/include
     export CMAKE_LIBRARY_PATH=/path/to/installed/library/lib
   

   See http://www.cmake.org/Wiki/CMake_Useful_Variables#Environment_Variables for more information
5. Run ccmake:

     ccmake ..
   

6. Then type 'c' to configure, and 'e' to exit the page that shows the configure output. Now you see the cmake configuration menu. In this menu you can change the following options:
   • BUILD_EXAMPLES: ON if building the examples is desired,
   • BUILD_TESTS: ON if building the cppunit tests is desired,
   • CMAKE_BUILD_TYPE: Debug or e.g. Release,
   • CMAKE_INSTALL_PREFIX: directory where to install bfl, e.g.  /install,
   • GINAC_SUPPORT: OFF if you don't want to use GINAC support,
   • LIBRARY_TYPE: type of library build, shared or static,
   • MATRIX_LIB: matrix library used: boost, lti or newmat,
   • RNG_LIB: random number generator used: boost, lti or scythe.
   Now repeat the 'c' configure and 'e' exit cycle, until you get no more errors. When this is the case, you'll have the 'g' generate option available. Press 'g' to generate the makefiles, and then quit cmake with 'q' quit.
7. Now all configuration is done, and you can build BFL:

     make
   

8. To check the functionality of BFL, use

     make check
   

9. To install BFL use

     sudo make install
   

In the $\mathtt{\tilde{ }}$/sources/sources/bfl/examples directory, you find some example BFL filters. A good next step is to check out the BFL tutorial on http://www.orocos.org/bfl, for a step-by-step introduction in building your own filters in BFL.


Good luck!