Skip to content

Getting Started

Building TLTk

TLTK can be built from source or run through a Docker container. Running through a Docker container is straighforward since the environment and the dependencies are automatically installed.

In the following, we provide instructions for both alternatives.

Running through Docker (Windows or Linux)

Instructions to run the tool using Docker.

  • Install Docker .
  • In terminal or command proment, enter the following command to pull the TLTk docker image
    docker pull bardhh/tltk
  • Once the docker image is pulled, a container may be intialized, in interactive mode, with the command:
    docker run -it --name tltk_cont bardhh/tltk bash 
  • Alternatively, to execute a script without entering the container:
    docker exec -it tltk_cont bash -c 'cd gettingStarted && python'

Other useful commands

  • To copy a file to the container:
    docker cp source_file tltk_cont:/usr/src/tltk/destination_file

If you have completed these steps, continue to the next section.

Pip install (Linux Only)

To install tltk with pip3 the command below can be ran in Bash

pip3 install --user tltk_mtl

If pip3 is not installed the command below will install it on Ubuntu

sudo apt install python3-pip

Building from Source (Linux Only)

Downloading TLTk

TLTk is currenlty hosted on bitbucket and is downloaded with the git clone command

git clone

Dependencies for robustness calculation

The following section describes how to install TLTk manually. There is a script that will do it automatically; skip to the bottom of the section for instructions on how to use the script

Operating System

TLTk is tested on Ubuntu linux. It can be installed on any linux distribution, but it is untested. This guide will be focused installing on the Ubuntu distribution of linux.

Installing Git

Git is needed to download TLTk source. If you do not have git, it can be downloaded with the command:

sudo apt install git 

CPU Compiler

TLTk has been tested with the gcc compiler. If gcc is not on your system, it can be installed with:

sudo apt install gcc

Installing python3
sudo apt install python3
GPU Compiler


Not required unless you are using a GPU

To compile the gpu code you need the NVCC compiler. This compiler can be found: Here

Installing python packages

We need to install the needed python repositories. To do this we will use pip3, which we installed in the previous step. The libraries that TLTk need are numpy, scipy, and cython. To install these, you can run the following command:

pip3 install --user numpy scipy cython


Only needed if planing on using TLTk with simulink

Detailed steps can be found here

The following two commands need to be executed (depending on the MATLAB version and directory structure) for Linux using python3:

cd /usr/local/matlab/extern/engines/python/ 
python3 build --build-base=$(mktemp -d) install

Install script

There is a script that installs all the needed packages. At the start of the script it runs an apt update and upgrade. The script can be found at


Compiling TLTk

Once all the dependencies are installed, TLTk needs to be compiled. To do this, there is a Make file in

This make file uses GNU make, which can be installed with
sudo apt install make
To make the gpu code, the make file can be ran like this
make gpu

Running Your First Script


Execute TLTk from Bash/Command Prompt

docker exec tltk_cont bash -c 'cd gettingStarted && python'

Start Interactive Bash Session in TLTk

docker exec -it tltk_cont bash

Then, you can enter the gettingStarted directory and run the script

cd gettingStarted


Adding TLTk to path

If you built TLTk by source, python needs to know where to look to find TLTk. One method is to add the directory to path at run time by using the python sys libary. For example

import sys
sys.path.insert(1,(path from working directory)/pytaliro/robustness)
import MTL
It can also be added to the python path at the startup of a bash instance by adding the following line to your .bashrc and restarting the bash instance.

export PYTHONPATH=(path from root)/tltk/robustness:$PYTHONPATH

Below is a simple test script to check your setup of TLTk

#import sys #uncomment if not using export statment for bash
#sys.path.insert(1, 'robustness') #uncomment if not using export for bash
#import MTL as MTL #Uncomment if .bashrc was eddited
import tltk_mtl as MTL #This is used if pip3 install was used
import numpy as np
#predicate definition
predicate = MTL.Predicate('example data',1,1)

#signal and time stamps
signal = {'example data':np.array([95,96,97,96,95],dtype=np.float32)}
time_stamps = np.array([0,.5,.7,.8,1],dtype=np.float32)

#calculate predicate and print results