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PHLAME: Pseudo-spectral Heat fLow using the Affine geoMetric heat flow Equation

Installation instructions for development

  1. Clone the repo
  2. cd PHLAME
  3. Create a conda environment using the provided yaml file by running conda env create --name phlame -f phlame_env.yml
  4. Activate the conda environment conda activate phlame.
  5. Compile the pybinding: cd cpp/ and make. Note, This step will fail in Mac unfortunately.

Running tests

  1. conda activate phlame
  2. Add the modules to your PYTHONPATH using the following. Note in place of <your_phlame_directory> below make sure to use the full aboslute path to your phlame directory during the export:
export PYTHONPATH="<your_phlame_directory>/src/phlame":"${PYTHONPATH}"
export PYTHONPATH="<your_phlame_directory>/src/":"${PYTHONPATH}"
  1. Run tests to verify correct installation
    • python3 installation_tests/scikits_odes_test.py
    • python3 tests/run_unit_tests.py

Bibtex

To cite PHLAME in your academic research, please use the following bibtex entry:

@article{enninfulphlame2024,
  title={Bring the Heat: Rapid Trajectory Optimization With Pseudospectral Techniques and the Affine Geometric Heat Flow Equation},
  author={Challen Enninful Adu and César E. Ramos Chuquiure and Bohao Zhang and Ram Vasudevan},
  year={2024},
  eprint={2411.12962},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2411.12962}}