mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 00:31:36 +08:00
lib/matrix: delete unused and add testing to PX4
This commit is contained in:
Daniel Agar
@@ -49,6 +49,7 @@ add_subdirectory(hysteresis)
|
||||
add_subdirectory(l1)
|
||||
add_subdirectory(landing_slope)
|
||||
add_subdirectory(led)
|
||||
add_subdirectory(matrix)
|
||||
add_subdirectory(mathlib)
|
||||
add_subdirectory(mixer)
|
||||
add_subdirectory(mixer_module)
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
Checks: 'clang-diagnostic-*,clang-analyzer-*,*,
|
||||
,-cppcoreguidelines-pro-type-vararg
|
||||
,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
|
||||
,-cppcoreguidelines-pro-bounds-constant-array-index
|
||||
,-cppcoreguidelines-pro-bounds-pointer-arithmetic
|
||||
'
|
||||
WarningsAsErrors: '*'
|
||||
HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
|
||||
|
||||
-53
@@ -1,53 +0,0 @@
|
||||
name: Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false # don't cancel if a job from the matrix fails
|
||||
matrix:
|
||||
compiler:
|
||||
- { compiler: GNU, CC: gcc, CXX: g++, FORMAT: ON }
|
||||
- { compiler: LLVM, CC: clang, CXX: clang++, FORMAT: OFF }
|
||||
#flavor: [ Release, Coverage ] # TODO
|
||||
flavor: [ Release ]
|
||||
exclude:
|
||||
- compiler: { compiler: LLVM, CC: clang, CXX: clang++ }
|
||||
flavor: Coverage
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: 'recursive'
|
||||
- name: Install Dependencies
|
||||
run: |
|
||||
sudo apt install -y clang cmake g++ gcc lcov
|
||||
- name: Fetch coveralls
|
||||
if: matrix.flavor == 'Coverage'
|
||||
run: |
|
||||
pip install --user cpp-coveralls
|
||||
|
||||
- name: Build & Run
|
||||
run: |
|
||||
cmake -DCMAKE_BUILD_TYPE=${{ matrix.flavor }} -DSUPPORT_STDIOSTREAM=ON -DTESTING=ON -DFORMAT=${{ matrix.compiler.FORMAT }} .
|
||||
make check
|
||||
|
||||
# TODO: enable
|
||||
# - name: Coveralls build
|
||||
# if: matrix.flavor == 'Coverage'
|
||||
# run: |
|
||||
# cpp-coveralls -i matrix
|
||||
# - name: Coveralls
|
||||
# if: matrix.flavor == 'Coverage'
|
||||
# uses: coverallsapp/github-action@master
|
||||
# with:
|
||||
# github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
*.orig
|
||||
*.swp
|
||||
*~
|
||||
astyle/
|
||||
build*/
|
||||
cmake_install.cmake
|
||||
CMakeCache.txt
|
||||
CMakeFiles/
|
||||
compile_commands.json
|
||||
CPackConfig.cmake
|
||||
CPackSourceConfig.cmake
|
||||
CTestTestfile.cmake
|
||||
Makefile
|
||||
test/attitude
|
||||
test/cmake_install.cmake
|
||||
test/CMakeFiles/
|
||||
test/copyto
|
||||
test/coverage.info
|
||||
test/CTestTestfile.cmake
|
||||
test/filter
|
||||
test/hatvee
|
||||
test/helper
|
||||
test/integration
|
||||
test/inverse
|
||||
test/Makefile
|
||||
test/matrixAssignment
|
||||
test/matrixMult
|
||||
test/matrixScalarMult
|
||||
test/out/
|
||||
test/pseudoinverse
|
||||
test/setIdentity
|
||||
test/slice
|
||||
test/squareMatrix
|
||||
test/transpose
|
||||
test/vector
|
||||
test/vector2
|
||||
test/vector3
|
||||
test/vectorAssignment
|
||||
Testing/
|
||||
+34
-178
@@ -1,180 +1,36 @@
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(VERSION_MAJOR "1")
|
||||
set(VERSION_MINOR "0")
|
||||
set(VERSION_PATCH "2")
|
||||
|
||||
project(matrix CXX)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
|
||||
if (NOT CMAKE_BUILD_TYPE)
|
||||
if(TESTING)
|
||||
set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Build type" FORCE)
|
||||
else()
|
||||
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
|
||||
endif()
|
||||
message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
|
||||
if(BUILD_TESTING)
|
||||
add_subdirectory(test)
|
||||
endif()
|
||||
|
||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
|
||||
|
||||
option(SUPPORT_STDIOSTREAM "If enabled provides support for << operator (as used with std::cout)" OFF)
|
||||
option(TESTING "Enable testing" OFF)
|
||||
option(FORMAT "Enable formatting" OFF)
|
||||
option(COV_HTML "Display html for coverage" OFF)
|
||||
option(ASAN "Enable address sanitizer" OFF)
|
||||
option(UBSAN "Enable undefined behaviour sanitizer" OFF)
|
||||
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
include_directories(${CMAKE_SOURCE_DIR})
|
||||
|
||||
if(SUPPORT_STDIOSTREAM)
|
||||
add_definitions(-DSUPPORT_STDIOSTREAM)
|
||||
endif()
|
||||
|
||||
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
set(CMAKE_CXX_FLAGS_COVERAGE
|
||||
"--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions -fno-elide-constructors"
|
||||
CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
|
||||
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
|
||||
"-ftest-coverage -fdiagnostics-absolute-paths"
|
||||
CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
|
||||
else()
|
||||
set(CMAKE_CXX_FLAGS_COVERAGE
|
||||
# Add when GCC 9 or later is available as part of the default toolchain: -fprofile-abs-path
|
||||
"--coverage -fprofile-arcs -ftest-coverage -O0 -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
|
||||
CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
|
||||
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
|
||||
"--coverage -ftest-coverage -lgcov"
|
||||
CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
|
||||
endif()
|
||||
mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
|
||||
|
||||
add_compile_options(
|
||||
-pedantic
|
||||
-Wall
|
||||
-Warray-bounds
|
||||
-Wcast-align
|
||||
-Wcast-qual
|
||||
-Wconversion
|
||||
-Wctor-dtor-privacy
|
||||
-Wdisabled-optimization
|
||||
-Werror
|
||||
-Wextra
|
||||
-Wfloat-equal
|
||||
-Wformat-security
|
||||
-Wformat=2
|
||||
-Winit-self
|
||||
-Wlogical-op
|
||||
-Wmissing-declarations
|
||||
-Wmissing-include-dirs
|
||||
-Wno-sign-compare
|
||||
-Wno-unused
|
||||
-Wno-unused-parameter
|
||||
-Wnoexcept
|
||||
-Wold-style-cast
|
||||
-Woverloaded-virtual
|
||||
-Wpointer-arith
|
||||
-Wredundant-decls
|
||||
-Wreorder
|
||||
-Wshadow
|
||||
-Wsign-conversion
|
||||
-Wsign-promo
|
||||
-Wstrict-null-sentinel
|
||||
-Wswitch-default
|
||||
-Wundef
|
||||
-Wuninitialized
|
||||
-Wunused-variable
|
||||
)
|
||||
|
||||
# clang tolerate unknown gcc options
|
||||
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
|
||||
add_compile_options(
|
||||
-Wno-error=unused-command-line-argument-hard-error-in-future
|
||||
-Wno-unknown-warning-option
|
||||
)
|
||||
else()
|
||||
add_compile_options(
|
||||
-Wstrict-overflow=5
|
||||
)
|
||||
endif()
|
||||
|
||||
# santiziers (ASAN, UBSAN)
|
||||
if(ASAN)
|
||||
message(STATUS "address sanitizer enabled")
|
||||
|
||||
# environment variables
|
||||
# ASAN_OPTIONS=detect_stack_use_after_return=1
|
||||
# ASAN_OPTIONS=check_initialization_order=1
|
||||
|
||||
add_compile_options(
|
||||
-fsanitize=address
|
||||
-g3
|
||||
-O1
|
||||
-fno-omit-frame-pointer
|
||||
)
|
||||
|
||||
set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
|
||||
|
||||
elseif(UBSAN)
|
||||
message(STATUS "undefined behaviour sanitizer enabled")
|
||||
|
||||
add_compile_options(
|
||||
-fsanitize=undefined
|
||||
-fsanitize=integer
|
||||
-g3
|
||||
-O1
|
||||
-fno-omit-frame-pointer
|
||||
)
|
||||
|
||||
set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
|
||||
endif()
|
||||
|
||||
|
||||
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
|
||||
|
||||
if(TESTING)
|
||||
enable_testing()
|
||||
add_subdirectory(test)
|
||||
add_dependencies(check test_build)
|
||||
|
||||
add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
|
||||
add_dependencies(clang-tidy test_build)
|
||||
endif()
|
||||
|
||||
if(FORMAT)
|
||||
set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
|
||||
add_custom_command(OUTPUT ${astyle_exe}
|
||||
COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
|
||||
COMMAND tar -xvf /tmp/astyle.tar.gz
|
||||
COMMAND cd astyle/src && make -f ../build/gcc/Makefile
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
)
|
||||
|
||||
add_custom_target(check_format
|
||||
COMMAND scripts/format.sh ${astyle_exe} 0
|
||||
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
|
||||
DEPENDS ${astyle_exe}
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
add_custom_target(format
|
||||
COMMAND scripts/format.sh ${astyle_exe} 1
|
||||
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
|
||||
VERBATIM
|
||||
DEPENDS ${astyle_exe}
|
||||
)
|
||||
|
||||
add_dependencies(check check_format)
|
||||
endif()
|
||||
|
||||
set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR})
|
||||
set(CPACK_PACKAGE_VERSION_MINOR ${VERSION_MINOR})
|
||||
set(CPACK_PACKAGE_VERSION_PATCH ${VERSION_PATCH})
|
||||
set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
|
||||
include(CPack)
|
||||
|
||||
# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
|
||||
|
||||
@@ -1,29 +0,0 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2015, PX4 Pro Drone Autopilot
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
* Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
|
||||
* Neither the name of the copyright holder nor the names of its
|
||||
contributors may be used to endorse or promote products derived from
|
||||
this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
@@ -1,146 +0,0 @@
|
||||
# matrix [](https://travis-ci.org/PX4/Matrix) [](https://coveralls.io/github/PX4/Matrix?branch=master)
|
||||
|
||||
A simple and efficient template based matrix library.
|
||||
|
||||
## License
|
||||
* (BSD) The Matrix library is licensed under a permissive 3-clause BSD license. Contributions must be made under the same license.
|
||||
|
||||
## Features
|
||||
* Compile time size checking.
|
||||
* Euler angle (321), DCM, Quaternion conversion through constructors.
|
||||
* High testing coverage.
|
||||
|
||||
## Limitations
|
||||
* No dynamically sized matrices.
|
||||
|
||||
## Library Overview
|
||||
|
||||
* matrix/math.hpp : Provides matrix math routines.
|
||||
* Matrix (MxN)
|
||||
* Square Matrix (MxM, has inverse)
|
||||
* Vector (Mx1)
|
||||
* Scalar (1x1)
|
||||
* Quaternion
|
||||
* Dcm
|
||||
* Euler (Body 321)
|
||||
* Axis Angle
|
||||
|
||||
* matrix/filter.hpp : Provides filtering routines.
|
||||
* kalman_correct
|
||||
|
||||
* matrix/integrate.hpp : Provides integration routines.
|
||||
* integrate_rk4 (Runge-Kutta 4th order)
|
||||
|
||||
## Testing
|
||||
The tests can be executed as following:
|
||||
```
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DTESTING=ON ..
|
||||
make check
|
||||
```
|
||||
|
||||
## Formatting
|
||||
The format can be checked as following:
|
||||
```
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DFORMAT=ON ..
|
||||
make check_format
|
||||
```
|
||||
|
||||
|
||||
## Example
|
||||
|
||||
See the test directory for detailed examples. Some simple examples are included below:
|
||||
|
||||
```c++
|
||||
// define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
|
||||
float roll = 0.1f;
|
||||
float pitch = 0.2f;
|
||||
float yaw = 0.3f;
|
||||
Eulerf euler(roll, pitch, yaw);
|
||||
|
||||
// convert to quaternion from euler
|
||||
Quatf q_nb(euler);
|
||||
|
||||
// convert to DCM from quaternion
|
||||
Dcmf dcm(q_nb);
|
||||
|
||||
// you can assign a rotation instance that already exist to another rotation instance, e.g.
|
||||
dcm = euler;
|
||||
|
||||
// you can also directly create a DCM instance from euler angles like this
|
||||
dcm = Eulerf(roll, pitch, yaw);
|
||||
|
||||
// create an axis angle representation from euler angles
|
||||
AxisAngle<float> axis_angle = euler;
|
||||
|
||||
// use axis angle to initialize a DCM
|
||||
Dcmf dcm2(AxisAngle(1, 2, 3));
|
||||
|
||||
// use axis angle with axis/angle separated to init DCM
|
||||
Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
|
||||
|
||||
// do some kalman filtering
|
||||
const size_t n_x = 5;
|
||||
const size_t n_y = 3;
|
||||
|
||||
// define matrix sizes
|
||||
SquareMatrix<float, n_x> P;
|
||||
Vector<float, n_x> x;
|
||||
Vector<float, n_y> y;
|
||||
Matrix<float, n_y, n_x> C;
|
||||
SquareMatrix<float, n_y> R;
|
||||
SquareMatrix<float, n_y> S;
|
||||
Matrix<float, n_x, n_y> K;
|
||||
|
||||
// define measurement matrix
|
||||
C = zero<float, n_y, n_x>(); // or C.setZero()
|
||||
C(0,0) = 1;
|
||||
C(1,1) = 2;
|
||||
C(2,2) = 3;
|
||||
|
||||
// set x to zero
|
||||
x = zero<float, n_x, 1>(); // or x.setZero()
|
||||
|
||||
// set P to identity * 0.01
|
||||
P = eye<float, n_x>()*0.01;
|
||||
|
||||
// set R to identity * 0.1
|
||||
R = eye<float, n_y>()*0.1;
|
||||
|
||||
// measurement
|
||||
y(0) = 1;
|
||||
y(1) = 2;
|
||||
y(2) = 3;
|
||||
|
||||
// innovation
|
||||
r = y - C*x;
|
||||
|
||||
// innovations variance
|
||||
S = C*P*C.T() + R;
|
||||
|
||||
// Kalman gain matrix
|
||||
K = P*C.T()*S.I();
|
||||
// S.I() is the inverse, defined for SquareMatrix
|
||||
|
||||
// correction
|
||||
x += K*r;
|
||||
|
||||
// slicing
|
||||
float data[9] = {0, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
SquareMatrix<float, 3> A(data);
|
||||
|
||||
// Slice a 3,3 matrix starting at row 1, col 0,
|
||||
// with size 2 x 3, warning, no size checking
|
||||
Matrix<float, 2, 3> B(A.slice<2, 3>(1, 0));
|
||||
|
||||
// this results in:
|
||||
// 4, 5, 6
|
||||
// 7, 8, 10
|
||||
```
|
||||
<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
||||
@@ -1 +0,0 @@
|
||||
.ipynb_checkpoints/
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
@@ -1,30 +0,0 @@
|
||||
#!/bin/bash
|
||||
echo pwd:$PWD
|
||||
astyle=$1
|
||||
format=$2
|
||||
format_wildcards="""
|
||||
./matrix/*.*pp
|
||||
./test/*.*pp
|
||||
"""
|
||||
|
||||
#echo astyle: $astyle
|
||||
#echo format: $format
|
||||
|
||||
if [[ $format -eq 1 ]]
|
||||
then
|
||||
echo formatting
|
||||
$astyle ${format_wildcards}
|
||||
else
|
||||
echo checking format...
|
||||
$astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
|
||||
if [[ $? -eq 0 ]]
|
||||
then
|
||||
echo Error: need to format
|
||||
echo "From cmake build directory run: 'make format'"
|
||||
exit 1
|
||||
fi
|
||||
echo no formatting needed
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 :
|
||||
@@ -1,4 +1,9 @@
|
||||
include(gtest.cmake)
|
||||
#include(gtest.cmake)
|
||||
|
||||
add_compile_options(
|
||||
-Wno-double-promotion
|
||||
-Wno-float-equal
|
||||
)
|
||||
|
||||
set(tests
|
||||
setIdentity
|
||||
@@ -15,7 +20,6 @@ set(tests
|
||||
attitude
|
||||
filter
|
||||
integration
|
||||
sparseVector
|
||||
squareMatrix
|
||||
helper
|
||||
hatvee
|
||||
@@ -24,44 +28,19 @@ set(tests
|
||||
upperRightTriangle
|
||||
dual
|
||||
pseudoInverse
|
||||
)
|
||||
)
|
||||
|
||||
add_custom_target(test_build)
|
||||
foreach(test_name ${tests})
|
||||
add_executable(${test_name}
|
||||
${test_name}.cpp)
|
||||
add_test(test_${test_name} ${test_name})
|
||||
add_dependencies(test_build ${test_name})
|
||||
add_executable(test-matrix_${test_name} ${test_name}.cpp)
|
||||
|
||||
add_test(NAME test-matrix_${test_name}
|
||||
COMMAND test-matrix_${test_name}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
)
|
||||
|
||||
add_dependencies(test_build test-matrix_${test_name})
|
||||
add_dependencies(test_results test-matrix_${test_name})
|
||||
endforeach()
|
||||
target_link_libraries(sparseVector gtest_main)
|
||||
|
||||
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
|
||||
|
||||
add_custom_target(coverage_build
|
||||
COMMAND ${CMAKE_CTEST_COMMAND}
|
||||
COMMAND lcov --capture --directory . --output-file coverage.info --rc lcov_branch_coverage=1
|
||||
COMMAND lcov --rc lcov_branch_coverage=1 --summary coverage.info
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS test_build
|
||||
)
|
||||
|
||||
add_custom_target(coverage_html
|
||||
COMMAND genhtml coverage.info --output-directory out --branch-coverage
|
||||
COMMAND x-www-browser out/index.html
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS coverage_build
|
||||
)
|
||||
|
||||
set(coverage_deps
|
||||
coverage_build)
|
||||
|
||||
if (COV_HTML)
|
||||
list(APPEND coverage_deps coverage_html)
|
||||
endif()
|
||||
|
||||
add_custom_target(coverage
|
||||
DEPENDS ${coverage_deps}
|
||||
)
|
||||
endif()
|
||||
|
||||
# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
|
||||
px4_add_unit_gtest(SRC sparseVector.cpp)
|
||||
|
||||
@@ -1,18 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.4)
|
||||
|
||||
project(googletest-download NONE)
|
||||
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(googletest
|
||||
URL https://github.com/google/googletest/archive/e2239ee6043f73722e7aa812a459f54a28552929.zip
|
||||
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
|
||||
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
|
||||
CONFIGURE_COMMAND ""
|
||||
BUILD_COMMAND ""
|
||||
INSTALL_COMMAND ""
|
||||
TEST_COMMAND ""
|
||||
# Wrap download, configure and build steps in a script to log output
|
||||
LOG_DOWNLOAD ON
|
||||
LOG_CONFIGURE ON
|
||||
LOG_BUILD ON
|
||||
)
|
||||
@@ -1,12 +0,0 @@
|
||||
set_directory_properties(PROPERTIES COMPILE_OPTIONS "")
|
||||
|
||||
# Download and unpack googletest at configure time
|
||||
configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
|
||||
if(result1 OR result2)
|
||||
message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
|
||||
endif()
|
||||
|
||||
# Add googletest, defines gtest and gtest_main targets
|
||||
add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
|
||||
Reference in New Issue
Block a user