Mathmatics Toolbox

This project contains docker contexts and project example programs for several C++ mathematics libraries making it easier to build and consume or use the libraries.

This project uses docker as a rudimentary "package" for each library allowing a given package, for example eigen3, to be included, installed, and consumed in another docker context.

The build context is licensed under the EPL-2.0. Review the other submodules for their respective licenses

Getting Started

Docker and Make are required

Background

This project contains docker build environments and example run environments for several math libraries including: Eigen(eigen3)🔗, osqp 🔗 this project includes examples on how to compile the previously mentioned libraries, run, include (via cmake), and install the libraries.

Caching

By default all dependencies are fetch via docker hub

build

** The default behavior of the build target/recipe will not compile any dependencies ** A build target is provided that will build every library provided in this project. The build target does the following: 1. Fetches all projects from docker hub (if it exists) or from local cache (if it exists) 2. builds the docker context for example builds eigne3:latest only if it does exist after step 1 3. Saves the docker layers and image to a local cache in ./.docker_cache

To explicitly build a given project for example eigen3 you must explicitly call the provided make build_<project name> target for example:

make build_eigen3

or

make clean_build

to build all dependencies

osqp

In order to use the osqp library you must first build the docker context with make build or make build_osqp. After you build the osqp docker context a docker image will become available in your local docker repository:

mathmatics_toolbox(master) ✗ (0)> docker image ls | grep osqp
osqp                          latest          338a7cc85702   About a minute ago   13.1MB

Once available in your docker local repository it can be included in other projects using the FROM key word in a docker file. The osqp context must be defined in your docker file before your main image declaration such as follows:

FROM osqp:latest as osqp 
...
FROM ubuntu:22.04

After including the osqp image in your docker file you can install the pre-built library to the system libraries within your docker context such as the following:

COPY --from=osqp /tmp/osqp /tmp/osqp 
WORKDIR /tmp/osqp/build
RUN make install/fast

Once installed in the system context within your docker context you can use CMake find_package in your CMakeLists.txt to source osqp such as follows:

find_package(osqp REQUIRED)

In order to compile a target with osqp you must also enable the fpermissive flag by adding the following to your CMakeLists.txt:

target_compile_options(<TARGET NAME> PRIVATE -fpermissive)

Finally, you must add the osqp to the target linked libraries in your CMakeLists.txt such as follows:

target_link_libraries(<TARGET NAME> PRIVATE osqp::osqp)

You should now be able to include osqp in your C++ project with:

#include "osqp.h"
...

This project also includes a complete example test program for osqp of everything previously explained in test/osqp_hello_world. To run the osqp test program use the provided target:

cd tests
make test_osqp

eigen

As with the osqp library you must first build the eigen library with: make build or make build_eigen3 After building eigen3 add it to your Dockerfile:

FROM eigen3:latest as eigen3 
...
FROM ubuntu:22.04

Next, install it to the system libraries within your docker context:

COPY --from=eigen3 /tmp/eigen3 /tmp/eigen3 
WORKDIR /tmp/eigen3/build
RUN make install

Next, use find_package in your CMakeLists.txt:

find_package(Eigen3 REQUIRED)

and add the target link libraries for eigen:

target_link_libraries(<TARGET NAME> PRIVATE Eigen3::Eigen)

Finally, you can include eigen in your C++ sources:

#include <Eigen/Dense>
...

There is a complete example test program provided in the prioject for eigen at: tests/eigen3_hello_world; refer to this.

Publishing to docker

To build and publish a library to docker hub 1. login with docker: docker login 2. build all libraries manually by invoking make build_<library name> 3. call the provided publish target: make publish