mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 10:17:45 +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)
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add_subdirectory(l1)
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add_subdirectory(l1)
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add_subdirectory(landing_slope)
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add_subdirectory(landing_slope)
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add_subdirectory(led)
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add_subdirectory(led)
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add_subdirectory(matrix)
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add_subdirectory(mathlib)
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add_subdirectory(mathlib)
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add_subdirectory(mixer)
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add_subdirectory(mixer)
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add_subdirectory(mixer_module)
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add_subdirectory(mixer_module)
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|||||||
@@ -1,9 +0,0 @@
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Checks: 'clang-diagnostic-*,clang-analyzer-*,*,
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,-cppcoreguidelines-pro-type-vararg
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,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
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,-cppcoreguidelines-pro-bounds-constant-array-index
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,-cppcoreguidelines-pro-bounds-pointer-arithmetic
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'
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WarningsAsErrors: '*'
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HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
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-53
@@ -1,53 +0,0 @@
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name: Tests
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||||||
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on:
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||||||
push:
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branches:
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- 'master'
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pull_request:
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branches:
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- '*'
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false # don't cancel if a job from the matrix fails
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matrix:
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compiler:
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- { compiler: GNU, CC: gcc, CXX: g++, FORMAT: ON }
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- { compiler: LLVM, CC: clang, CXX: clang++, FORMAT: OFF }
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#flavor: [ Release, Coverage ] # TODO
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flavor: [ Release ]
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exclude:
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- compiler: { compiler: LLVM, CC: clang, CXX: clang++ }
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flavor: Coverage
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: 'recursive'
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- name: Install Dependencies
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run: |
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sudo apt install -y clang cmake g++ gcc lcov
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- name: Fetch coveralls
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if: matrix.flavor == 'Coverage'
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run: |
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pip install --user cpp-coveralls
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- name: Build & Run
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run: |
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cmake -DCMAKE_BUILD_TYPE=${{ matrix.flavor }} -DSUPPORT_STDIOSTREAM=ON -DTESTING=ON -DFORMAT=${{ matrix.compiler.FORMAT }} .
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make check
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# TODO: enable
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# - name: Coveralls build
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# if: matrix.flavor == 'Coverage'
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# run: |
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# cpp-coveralls -i matrix
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# - name: Coveralls
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# if: matrix.flavor == 'Coverage'
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# uses: coverallsapp/github-action@master
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# with:
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||||||
# github-token: ${{ secrets.GITHUB_TOKEN }}
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@@ -1,39 +0,0 @@
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*.orig
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*.swp
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||||||
*~
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astyle/
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||||||
build*/
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||||||
cmake_install.cmake
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||||||
CMakeCache.txt
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||||||
CMakeFiles/
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||||||
compile_commands.json
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||||||
CPackConfig.cmake
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||||||
CPackSourceConfig.cmake
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||||||
CTestTestfile.cmake
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||||||
Makefile
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||||||
test/attitude
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||||||
test/cmake_install.cmake
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||||||
test/CMakeFiles/
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||||||
test/copyto
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||||||
test/coverage.info
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test/CTestTestfile.cmake
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test/filter
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test/hatvee
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||||||
test/helper
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||||||
test/integration
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||||||
test/inverse
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||||||
test/Makefile
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||||||
test/matrixAssignment
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|
||||||
test/matrixMult
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|
||||||
test/matrixScalarMult
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|
||||||
test/out/
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|
||||||
test/pseudoinverse
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|
||||||
test/setIdentity
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|
||||||
test/slice
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|
||||||
test/squareMatrix
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||||||
test/transpose
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||||||
test/vector
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||||||
test/vector2
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||||||
test/vector3
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|
||||||
test/vectorAssignment
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||||||
Testing/
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+34
-178
@@ -1,180 +1,36 @@
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|||||||
cmake_minimum_required(VERSION 2.8)
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############################################################################
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||||||
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#
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||||||
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||||
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#
|
||||||
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# 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
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||||||
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# 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")
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if(BUILD_TESTING)
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||||||
set(VERSION_MINOR "0")
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add_subdirectory(test)
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||||||
set(VERSION_PATCH "2")
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|
||||||
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|
||||||
project(matrix CXX)
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|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 14)
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|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
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|
||||||
|
|
||||||
if (NOT CMAKE_BUILD_TYPE)
|
|
||||||
if(TESTING)
|
|
||||||
set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Build type" FORCE)
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|
||||||
else()
|
|
||||||
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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|
||||||
endif()
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|
||||||
message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
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|
||||||
|
|
||||||
option(SUPPORT_STDIOSTREAM "If enabled provides support for << operator (as used with std::cout)" OFF)
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|
||||||
option(TESTING "Enable testing" OFF)
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|
||||||
option(FORMAT "Enable formatting" OFF)
|
|
||||||
option(COV_HTML "Display html for coverage" OFF)
|
|
||||||
option(ASAN "Enable address sanitizer" OFF)
|
|
||||||
option(UBSAN "Enable undefined behaviour sanitizer" OFF)
|
|
||||||
|
|
||||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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|
||||||
|
|
||||||
include_directories(${CMAKE_SOURCE_DIR})
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|
||||||
|
|
||||||
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
|
set(tests
|
||||||
setIdentity
|
setIdentity
|
||||||
@@ -15,7 +20,6 @@ set(tests
|
|||||||
attitude
|
attitude
|
||||||
filter
|
filter
|
||||||
integration
|
integration
|
||||||
sparseVector
|
|
||||||
squareMatrix
|
squareMatrix
|
||||||
helper
|
helper
|
||||||
hatvee
|
hatvee
|
||||||
@@ -24,44 +28,19 @@ set(tests
|
|||||||
upperRightTriangle
|
upperRightTriangle
|
||||||
dual
|
dual
|
||||||
pseudoInverse
|
pseudoInverse
|
||||||
)
|
)
|
||||||
|
|
||||||
add_custom_target(test_build)
|
add_custom_target(test_build)
|
||||||
foreach(test_name ${tests})
|
foreach(test_name ${tests})
|
||||||
add_executable(${test_name}
|
add_executable(test-matrix_${test_name} ${test_name}.cpp)
|
||||||
${test_name}.cpp)
|
|
||||||
add_test(test_${test_name} ${test_name})
|
add_test(NAME test-matrix_${test_name}
|
||||||
add_dependencies(test_build ${test_name})
|
COMMAND test-matrix_${test_name}
|
||||||
|
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
add_dependencies(test_build test-matrix_${test_name})
|
||||||
|
add_dependencies(test_results test-matrix_${test_name})
|
||||||
endforeach()
|
endforeach()
|
||||||
target_link_libraries(sparseVector gtest_main)
|
|
||||||
|
|
||||||
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
|
px4_add_unit_gtest(SRC sparseVector.cpp)
|
||||||
|
|
||||||
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 ${coverage_deps}
|
|
||||||
)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
|
|
||||||
|
|||||||
@@ -1,18 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 2.8.4)
|
|
||||||
|
|
||||||
project(googletest-download NONE)
|
|
||||||
|
|
||||||
include(ExternalProject)
|
|
||||||
ExternalProject_Add(googletest
|
|
||||||
URL https://github.com/google/googletest/archive/e2239ee6043f73722e7aa812a459f54a28552929.zip
|
|
||||||
SOURCE_DIR "${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