Install pypoman on MACOS (M1)

环境配置对应的Github：Multi-agent Motion Planning from Signal Temporal Logic Specifications

1. 直接pip安装：

pip install pypoman

然后报错。。。

2. 报错原因：

这个库主要依赖：pycddlib 和 cvxopt.

1. 对于pycddlib: 会报错无法找到 “gmp.h”：

fatal error: ‘gmp.h’ file not found
#include “gmp.h”
^~~~~~~
1 error generated.
error: command ‘/usr/bin/clang’ failed with exit code 1

3. 对于cvxopt： 会报错无法找到 #include “umfpack.h”:

fatal error: ‘umfpack.h’ file not found
#include “umfpack.h”
^~~~~~~~~~~
1 error generated.
error: command ‘/usr/bin/clang’ failed with exit code 1
[end of output]

现在针对这两个问题单独说明。

1) pycddlib：

Ubuntu

根据Github上的提示解决方法（本人非ubuntu系统，未尝试）：

sudo apt-get install libgmp-dev
pip3 install pypoman

MacOS

首先确保自己安装了gmp:

brew install gmp
pip3 install pycddlib

但是再装的时候仍旧还是无法找到h文件，于是：

find /usr /opt -name "gmp.h"

find: /usr/sbin/authserver: Permission denied
/opt/homebrew/include/gmp.h
/opt/homebrew/Cellar/gmp/6.2.1_1/include/gmp.h

根据路径进行环境配置后再安装：

CFLAGS=-I/opt/homebrew/opt/gmp/include 
LDFLAGS=-L/opt/homebrew/opt/gmp/lib 
pip3 install pycddlib

若上述方法还不成功，可以再尝试：

```bash
export C_INCLUDE_PATH=$C_INCLUDE_PATH:/opt/homebrew/Cellar/gmp/6.2.1_1/include
export LIBRARY_PATH=$LIBRARY_PATH:/opt/homebrew/Cellar/gmp/6.2.1_1/lib
pip3 install pycddlib

即可安装成功。


## 2)  cvxopt

类似于上面的解决方法，也需要环境配置。由此可知，当自己明明安装了lib，但是还是无法找到文件，即可考虑配置一下环境路径。


同样首先查找本地是否存在h文件：

```bash
find /usr /opt -name "umfpack.h" 

find: /usr/sbin/authserver: Permission denied
/opt/homebrew/include/umfpack.h
/opt/homebrew/Cellar/suite-sparse/5.13.0/include/umfpack.h

没有的话，先安装suite-sparse，再重新查找：

brew install suite-sparse

根据路径进行环境配置后再安装：

CVXOPT_SUITESPARSE_LIB_DIR=/opt/homebrew/Cellar/suite-sparse/5.13.0/lib/
CVXOPT_SUITESPARSE_INC_DIR=/opt/homebrew/Cellar/suite-sparse/5.13.0/include/ 
pip3 install cvxopt

即可安装成功。

最后：

pip3 install pypoman

即可成功安装 pypoman。

此处总结其他可能遇到的找不到文件的情况时，所用到的路径配置，请根据自身路径进行部分修改：

CVXOPT_SUITESPARSE_LIB_DIR=/opt/homebrew/Cellar/suite-sparse/7.0.1/lib/ \
CVXOPT_SUITESPARSE_INC_DIR=/opt/homebrew/Cellar/suite-sparse/7.0.1/include/ \
CVXOPT_GSL_LIB_DIR=/opt/homebrew/Cellar/gsl/2.7.1/lib/ \
CVXOPT_GSL_INC_DIR=/opt/homebrew/Cellar/gsl/2.7.1/include/ \
CVXOPT_FFTW_LIB_DIR=/opt/homebrew/Cellar/fftw/3.3.10_1/lib/ \
CVXOPT_FFTW_INC_DIR=/opt/homebrew/Cellar/fftw/3.3.10_1/include/ \
CVXOPT_GLPK_LIB_DIR=/opt/homebrew/Cellar/glpk/5.0/lib/ \
CVXOPT_GLPK_INC_DIR=/opt/homebrew/Cellar/glpk/5.0/include/ \

3. 最后一坑：

虽然成功安装了pypoman，但是在import的时候仍旧会报错：

Traceback (most recent call last):
File “”, line 1, in
File “/opt/homebrew/lib/python3.9/site-packages/pypoman/init.py”, line 24, in
from .intersection import intersect_line_cylinder
File “/opt/homebrew/lib/python3.9/site-packages/pypoman/intersection.py”, line 22, in
from scipy.spatial import ConvexHull
File “/opt/homebrew/lib/python3.9/site-packages/scipy/spatial/init.py”, line 107, in
from ._procrustes import procrustes
File “/opt/homebrew/lib/python3.9/site-packages/scipy/spatial/_procrustes.py”, line 9, in
from scipy.linalg import orthogonal_procrustes
File “/opt/homebrew/lib/python3.9/site-packages/scipy/linalg/init.py”, line 198, in
from ._misc import *
File “/opt/homebrew/lib/python3.9/site-packages/scipy/linalg/_misc.py”, line 3, in
from .blas import get_blas_funcs
File “/opt/homebrew/lib/python3.9/site-packages/scipy/linalg/blas.py”, line 213, in
from scipy.linalg import _fblas
ImportError: dlopen(/opt/homebrew/lib/python3.9/site-packages/scipy/linalg/_fblas.cpython-39-darwin.so, 2): Library not loaded: /opt/homebrew/opt/gcc/lib/gcc/11/libgfortran.5.dylib
Referenced from: /opt/homebrew/lib/python3.9/site-packages/scipy/linalg/_fblas.cpython-39-darwin.so
Reason: image not found

查看发现可能是scipy的问题，于是考虑安装/重新安装scipy:

pip3 install --upgrade --force-reinstall scipy

仍旧报错：

Preparing metadata (pyproject.toml) … error
error: subprocess-exited-with-error
…(省略一堆不太看得懂的)
…/…/scipy/meson.build:131:0: ERROR: Dependency “OpenBLAS” not found, tried pkgconfig and framework （看到重点）
…(后续仍旧有超长报错。。。)
note: This error originates from a subprocess, and is likely not a problem with pip.
error: metadata-generation-failed
× Encountered error while generating package metadata.
╰─> See above for output.
note: This is an issue with the package mentioned above, not pip.
hint: See above for details.

首先安装：

brew install openblas

同样，出现安装 openblas后仍旧找不到，则查找对应的安装信息：

brew info openblas

会看到它的输出有：

because macOS provides BLAS in Accelerate.framework.
For compilers to find openblas you may need to set:
export LDFLAGS=“-L/opt/homebrew/opt/openblas/lib”
export CPPFLAGS=“-I/opt/homebrew/opt/openblas/include”
For pkg-config to find openblas you may need to set:
export PKG_CONFIG_PATH=“/opt/homebrew/opt/openblas/lib/pkgconfig”

export PKG_CONFIG_PATH="/opt/homebrew/opt/openblas/lib/pkgconfig"
pip3 install scipy

即可安装成功。

注意，如果 from scipy.spatial import CovexHul 碰到报错

ImportError: cannot import name ‘CovexHull’ from ‘scipy.spatial’ (unknown location)

则需要注意自己scipy的版本信息，考虑升级pip，并重新安装scipy 版本>=0.12.0即可，我的版本scipy-1.9.3可用。