diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7bbac43e6aadc040886f8d4ffdcb9b5a023c3e19..61dc6b9cfcc919f6062ba4270931005dc8a6f9d0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -416,7 +416,6 @@ IF (vision_utils_FOUND)
capture_image.h
feature_point_image.h
landmark_AHP.h
- landmark_point_3D.h
processor_params_image.h
processor_tracker_feature_image.h
processor_tracker_landmark_image.h
@@ -425,7 +424,6 @@ IF (vision_utils_FOUND)
capture_image.cpp
feature_point_image.cpp
landmark_AHP.cpp
- landmark_point_3D.cpp
processor_tracker_feature_image.cpp
processor_tracker_landmark_image.cpp
)
@@ -440,10 +438,13 @@ ADD_SUBDIRECTORY(constraints)
# Add the features sub-directory
ADD_SUBDIRECTORY(features)
-# Add the processor sub-directory
+# Add the landmarks sub-directory
+ADD_SUBDIRECTORY(landmarks)
+
+# Add the processors sub-directory
ADD_SUBDIRECTORY(processors)
-# Add the sensor sub-directory
+# Add the sensors sub-directory
ADD_SUBDIRECTORY(sensors)
# Add the hello_wolf sub-directory
diff --git a/src/captures/CMakeLists.txt b/src/captures/CMakeLists.txt
index 008619d7b78511d7deb0bbd1d9133845b667a140..57f34f813a42268bc2600eb53e65ba7b7f73f2ca 100644
--- a/src/captures/CMakeLists.txt
+++ b/src/captures/CMakeLists.txt
@@ -1,6 +1,14 @@
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-# Forward var to parent scope
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
+
+
+
+#=========================================
+#=========================================
SET(HDRS_CAPTURE ${HDRS_CAPTURE}
${CMAKE_CURRENT_SOURCE_DIR}/capture_velocity.h
@@ -12,11 +20,7 @@ SET(SRCS_CAPTURE ${SRCS_CAPTURE}
${CMAKE_CURRENT_SOURCE_DIR}/capture_wheel_joint_position.cpp
)
-
-
-
-
-
+# Forward var to parent scope
# These lines always at the end
SET(HDRS_CAPTURE ${HDRS_CAPTURE} PARENT_SCOPE)
SET(SRCS_CAPTURE ${SRCS_CAPTURE} PARENT_SCOPE)
diff --git a/src/constraints/CMakeLists.txt b/src/constraints/CMakeLists.txt
index 587c9b9d99a1f12f6a6f3035801d7657defa33f7..8d9661d2c7d598c4ae26ea543ac1f3b573db5bbf 100644
--- a/src/constraints/CMakeLists.txt
+++ b/src/constraints/CMakeLists.txt
@@ -1,6 +1,14 @@
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-# Forward var to parent scope
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
+
+
+
+#=========================================
+#=========================================
SET(HDRS_CONSTRAINT ${HDRS_CONSTRAINT}
${CMAKE_CURRENT_SOURCE_DIR}/constraint_autodiff_distance_3D.h
@@ -11,7 +19,7 @@ SET(HDRS_CONSTRAINT ${HDRS_CONSTRAINT}
SET(SRCS_CONSTRAINT ${SRCS_CONSTRAINT}
)
-
+# Forward var to parent scope
# These lines always at the end
SET(HDRS_CONSTRAINT ${HDRS_CONSTRAINT} PARENT_SCOPE)
SET(SRCS_CONSTRAINT ${SRCS_CONSTRAINT} PARENT_SCOPE)
diff --git a/src/features/CMakeLists.txt b/src/features/CMakeLists.txt
index dd0b75aa447b2bd2a09c127e8b7a4abc0064ee58..316731a39f5dd8e3721e70d6b23ceec4186e523e 100644
--- a/src/features/CMakeLists.txt
+++ b/src/features/CMakeLists.txt
@@ -1,7 +1,15 @@
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-# Forward var to parent scope
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
+
+
+#=========================================
+#=========================================
+
SET(HDRS_FEATURE ${HDRS_FEATURE}
${CMAKE_CURRENT_SOURCE_DIR}/feature_diff_drive.h
)
@@ -9,9 +17,8 @@ SET(HDRS_FEATURE ${HDRS_FEATURE}
SET(SRCS_FEATURE ${SRCS_FEATURE}
${CMAKE_CURRENT_SOURCE_DIR}/feature_diff_drive.cpp
)
-
-
+# Forward var to parent scope
# These lines always at the end
SET(HDRS_FEATURE ${HDRS_FEATURE} PARENT_SCOPE)
SET(SRCS_FEATURE ${SRCS_FEATURE} PARENT_SCOPE)
diff --git a/src/landmarks/CMakeLists.txt b/src/landmarks/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdfe8f65b174218926f12aa3d3c8211f4e069569
--- /dev/null
+++ b/src/landmarks/CMakeLists.txt
@@ -0,0 +1,24 @@
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
+
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
+
+
+
+#=========================================
+#=========================================
+
+SET(HDRS_LANDMARK ${HDRS_LANDMARK}
+ ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_3D.h
+ )
+
+SET(SRCS_LANDMARK ${SRCS_LANDMARK}
+ ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_3D.cpp
+ )
+
+# Forward var to parent scope
+# These lines always at the end
+SET(HDRS_LANDMARK ${HDRS_LANDMARK} PARENT_SCOPE)
+SET(SRCS_LANDMARK ${SRCS_LANDMARK} PARENT_SCOPE)
\ No newline at end of file
diff --git a/src/landmark_point_3D.cpp b/src/landmarks/landmark_point_3D.cpp
similarity index 91%
rename from src/landmark_point_3D.cpp
rename to src/landmarks/landmark_point_3D.cpp
index 7a83341ecdf1ed2afc441ffb766e2b8006e71dfd..0deed3861479174eb87e5e2bb2ee4d1d0b6fa714 100644
--- a/src/landmark_point_3D.cpp
+++ b/src/landmarks/landmark_point_3D.cpp
@@ -1,4 +1,4 @@
-#include "landmark_point_3D.h"
+#include "landmarks/landmark_point_3D.h"
namespace wolf {
diff --git a/src/landmark_point_3D.h b/src/landmarks/landmark_point_3D.h
similarity index 100%
rename from src/landmark_point_3D.h
rename to src/landmarks/landmark_point_3D.h
diff --git a/src/processors/CMakeLists.txt b/src/processors/CMakeLists.txt
index c5902ad9c399c4055ad41fd8a5ac20fe29186933..5c223e4f28ff54f4c62267f980124d62f3d6ccda 100644
--- a/src/processors/CMakeLists.txt
+++ b/src/processors/CMakeLists.txt
@@ -1,14 +1,9 @@
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-# Forward var to parent scope
-
-SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
- ${CMAKE_CURRENT_SOURCE_DIR}/processor_diff_drive.h
- )
-
-SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
- ${CMAKE_CURRENT_SOURCE_DIR}/processor_diff_drive.cpp
- )
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
IF (vision_utils_FOUND)
SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
@@ -20,8 +15,19 @@ SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
)
ENDIF (vision_utils_FOUND)
+#=========================================
+#=========================================
+
+
+SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
+ ${CMAKE_CURRENT_SOURCE_DIR}/processor_diff_drive.h
+ )
+SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
+ ${CMAKE_CURRENT_SOURCE_DIR}/processor_diff_drive.cpp
+ )
+# Forward var to parent scope
# These lines always at the end
SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} PARENT_SCOPE)
SET(SRCS_PROCESSOR ${SRCS_PROCESSOR} PARENT_SCOPE)
diff --git a/src/sensors/CMakeLists.txt b/src/sensors/CMakeLists.txt
index 48a27e6003eeba7d9bff033c682a187057d61789..661731d27c433e5b0d9e3c14a81d6c0dd0ac6737 100644
--- a/src/sensors/CMakeLists.txt
+++ b/src/sensors/CMakeLists.txt
@@ -1,7 +1,15 @@
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-# Forward var to parent scope
+#=========================================
+#=========================================
+# Add in this section the CONDITIONAL CLUES [IF/ELSE]
+# for external libraries and move inside them the respective lines from above.
+
+
+#=========================================
+#=========================================
+
SET(HDRS_SENSOR ${HDRS_SENSOR}
${CMAKE_CURRENT_SOURCE_DIR}/diff_drive_tools.h
${CMAKE_CURRENT_SOURCE_DIR}/diff_drive_tools.hpp
@@ -12,8 +20,7 @@ SET(SRCS_SENSOR ${SRCS_SENSOR}
${CMAKE_CURRENT_SOURCE_DIR}/sensor_diff_drive.cpp
)
-
-
+# Forward var to parent scope
# These lines always at the end
SET(HDRS_SENSOR ${HDRS_SENSOR} PARENT_SCOPE)
SET(SRCS_SENSOR ${SRCS_SENSOR} PARENT_SCOPE)
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index 985471013c0f232b742259fa2c66af823a5968a1..4827de183a9a53fbb22bcc72d553aefbf2e6a33a 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -68,10 +68,6 @@ target_link_libraries(gtest_frame_base ${PROJECT_NAME})
wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp)
# target_link_libraries(gtest_IMU_tools ${PROJECT_NAME}) // WOLF library not needed
-# IMU tools test
-wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp)
-target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME})
-
# LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
target_link_libraries(gtest_local_param ${PROJECT_NAME})
@@ -80,6 +76,10 @@ target_link_libraries(gtest_local_param ${PROJECT_NAME})
wolf_add_gtest(gtest_motion_buffer gtest_motion_buffer.cpp)
target_link_libraries(gtest_motion_buffer ${PROJECT_NAME})
+# PackKFBuffer
+wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp)
+target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME})
+
# Problem class test
wolf_add_gtest(gtest_problem gtest_problem.cpp)
target_link_libraries(gtest_problem ${PROJECT_NAME})
@@ -179,7 +179,7 @@ wolf_add_gtest(gtest_processor_IMU_jacobians gtest_processor_IMU_jacobians.cpp)
target_link_libraries(gtest_processor_IMU_jacobians ${PROJECT_NAME})
IF(vision_utils_FOUND)
-# ProcessorIMUJacobians test
+# ProcessorFeatureTrifocal test
wolf_add_gtest(gtest_processor_tracker_feature_trifocal gtest_processor_tracker_feature_trifocal.cpp)
target_link_libraries(gtest_processor_tracker_feature_trifocal ${PROJECT_NAME})
ENDIF(vision_utils_FOUND)
diff --git a/wolf_scripts/ReadMe.md b/wolf_scripts/ReadMe.md
index 566576017536936977047203faada2a75db09a1a..72cadef66612e9f8603e6ada687848e3d8a30686 100644
--- a/wolf_scripts/ReadMe.md
+++ b/wolf_scripts/ReadMe.md
@@ -77,17 +77,18 @@ Helpful scripts to create WOLF tree elements (e.g. processors)
#### SCRIPTS installation
- * Move to the scripts folder
+ * Move to the WOLF scripts folder
- ```
- cd $WOLF_ROOT/wolf_scripts
- ```
+ ..*`cd <WOLF_DIRECTORY>/wolf_scripts`
- * Run the following line to set your `bashrc`. This will allow you to execute the scripts from any console path.
+ * Run the following lines to set your `bashrc`. This will allow you to execute the scripts from any console path.
- ```
- echo "source $WOLF_ROOT/wolf_scripts/setup.bash" >> ~/.bashrc
- ```
+ ..*`echo "export WOLF_ROOT=$PWD/../." >> ~/.bashrc`
+ ..*`echo "source $PWD/setup.bash" >> ~/.bashrc`
+
+ * Source your `bashrc`.
+
+ ..*`source ~/.bashrc`
## Usage
@@ -111,6 +112,9 @@ Creates the main structure including .cpp and .h files, and a gtest for the new
and modify the `CMakeLists.txt` files in the directories `src/processors/` and `src/test/`.
* Options:
- - t: Type. Any of the following "[ capture | constraint | feature | processor | sensor ]"
+ - t: Type. Any of the following [ capture | constraint | feature | landmark | processor | sensor ]"
- n: Name
- - b: Base class (inherited from this class)
\ No newline at end of file
+ - b: Base class (inherited from this class)
+
+ *__[WARNING]__: If you are using external libraries, you will have to manually modify some files. Please check the yellow [WARN] messages shown after executing the script.
+
\ No newline at end of file
diff --git a/wolf_scripts/generic_func/functions.sh b/wolf_scripts/generic_func/functions.sh
index e043f05cb249a06fa2cc5d9addb8fa5d9566e019..f5bd5c20f9d2996538c3f9ebc03575ebb2df77ac 100755
--- a/wolf_scripts/generic_func/functions.sh
+++ b/wolf_scripts/generic_func/functions.sh
@@ -12,66 +12,66 @@ NC=$(tput sgr 0) # No Color
askIfGitBranch()
{
- read -p "${CYAN}Do you want to create a new git branch (y/n)? ${NC}" ANSWER
- DOIT=${ANSWER:-y}
- OK=0
+ read -p "${CYAN}Do you want to create a new git branch (y/n)? ${NC}" ANSWER
+ DOIT=${ANSWER:-y}
+ OK=0
- while [ $OK -eq 0 ];
- do
- case "$ANSWER" in
- "y" | "Y")
- DOIT="y"
- OK=1
- ;;
- "n" | "N")
- DOIT="n"
- OK=1
- ;;
- *)
- OK=0
- echo "${RED} [ERROR]: Incorrect answer.${NC} Please type y or n"
- exit
- ;;
- esac
-done
-
-if [ "$DOIT" == "y" ];
-then
- if [ -z "$1" ]
- then
- echo "${RED} [ERROR]: No argument supplied.${NC}"
- fi
- cd $WOLF_ROOT
- git checkout -b $1
- echo "${GREEN} \--> Created git branch $1${NC}"
-fi
-echo ""
+ while [ $OK -eq 0 ];
+ do
+ case "$ANSWER" in
+ "y" | "Y")
+ DOIT="y"
+ OK=1
+ ;;
+ "n" | "N")
+ DOIT="n"
+ OK=1
+ ;;
+ *)
+ OK=0
+ echo "${RED} [ERROR]: Incorrect answer.${NC} Please type y or n"
+ exit
+ ;;
+ esac
+ done
+
+ if [ "$DOIT" == "y" ];
+ then
+ if [ -z "$1" ]
+ then
+ echo "${RED} [ERROR]: No argument supplied.${NC}"
+ fi
+ cd $WOLF_ROOT
+ git checkout -b $1
+ echo "${GREEN} \--> Created git branch $1${NC}"
+ fi
+ echo ""
}
getEnvVariable()
{
- local var=`echo "${!1}"`
- if [ -z "${var}" ]
- then
- echo "${RED} [ERROR]: The environment variable ${1} has not been defined.${NC} Please see the wiki documentation for instructions on how to create it." >&2
- exit
- fi
- echo $var
+ local var=`echo "${!1}"`
+ if [ -z "${var}" ]
+ then
+ echo "${RED} [ERROR]: The environment variable ${1} has not been defined.${NC} Please see the wiki documentation for instructions on how to create it." >&2
+ exit
+ fi
+ echo $var
}
showHelp()
{
- echo "******************************************"
- echo "${BLUE}Script to generate a WOLF $1 class${NC}"
- echo "******************************************"
- echo " Required parameters:"
- echo " -${CYAN}t${NC}: type. Any of the following [ ${CYAN}capture${NC} | ${CYAN}constraint${NC} | ${CYAN}feature${NC} | ${CYAN}processor${NC} | ${CYAN}sensor${NC}]"
- echo " -${CYAN}n${NC}: name"
- echo " -${CYAN}b${NC}: base class (inheritance)"
- echo ""
- echo "Example of usage:"
- echo "wolf_create.sh -t processor -n processor_example -b processor_tracker"
- echo ""
+ echo "******************************************"
+ echo "${BLUE}Script to generate a WOLF $1 class${NC}"
+ echo "******************************************"
+ echo " Required parameters:"
+ echo " -${CYAN}t${NC}: type. Any of the following [ ${CYAN}capture${NC} | ${CYAN}constraint${NC} | ${CYAN}feature${NC} | ${CYAN}landmark${NC} | ${CYAN}processor${NC} | ${CYAN}sensor${NC}]"
+ echo " -${CYAN}n${NC}: name"
+ echo " -${CYAN}b${NC}: base class (inheritance)"
+ echo ""
+ echo "Example of usage:"
+ echo "wolf_create.sh -t processor -n processor_example -b processor_tracker"
+ echo ""
}
LowerCase()
@@ -98,429 +98,448 @@ UpperCase()
UpperCaseFirstLetter()
{
- echo "$(echo "$1" | sed 's/.*/\u&/')"
+ echo "$(echo "$1" | sed 's/.*/\u&/')"
}
capitalizeDiminutives()
{
- RES=$1
- if [[ $1 =~ .*"2d"*. ]] ;
- then
- RES=$(echo "${1/2d/2D}")
- fi
- if [[ $1 =~ .*"3d"*. ]] ;
- then
- RES=$(echo "${RES/3d/3D}")
- fi
- if [[ $1 =~ .*"gps"*. ]] ;
- then
- RES=$(echo "${RES/gps/GPS}")
- fi
- if [[ $1 =~ .*"imu"*. ]] ;
- then
- RES=$(echo "${RES/imu/IMU}")
- fi
- echo $RES
+ RES=$1
+ if [[ $1 =~ .*"2d"*. ]] ;
+ then
+ RES=$(echo "${1/2d/2D}")
+ fi
+ if [[ $1 =~ .*"3d"*. ]] ;
+ then
+ RES=$(echo "${RES/3d/3D}")
+ fi
+ if [[ $1 =~ .*"gps"*. ]] ;
+ then
+ RES=$(echo "${RES/gps/GPS}")
+ fi
+ if [[ $1 =~ .*"imu"*. ]] ;
+ then
+ RES=$(echo "${RES/imu/IMU}")
+ fi
+ echo $RES
}
getFilePath()
{
- if find $WOLF_ROOT -name "${1}" -print -quit | grep -q '^';
- then
- echo "$(find "$WOLF_ROOT/src" -name ${1} )"
- else
- echo ""
- fi
+ if find $WOLF_ROOT -name "${1}" -print -quit | grep -q '^';
+ then
+ echo "$(find "$WOLF_ROOT/src" -name ${1} )"
+ else
+ echo ""
+ fi
}
fillWithBaseConstructorParameters()
{
- # Header: class constructor with base class parameters
- H_TXT=$(cat $BASE_H_PATH)
- H_TXT="${H_TXT#*class $BASECLASSNAME :}"
- BASECLASS_TXT="${H_TXT%%\n\};*}"
- PARAMS="${BASECLASS_TXT#*$BASECLASSNAME(}"
-
- BASE_DERIVES_FROM_AUTODIFF=""
- if [[ $PARAMS =~ .*ConstraintAutodiff*. ]] && ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
- then
- BASE_DERIVES_FROM_AUTODIFF="TRUE"
- fi
-
- PARAMS="${PARAMS%%\) :*}" # in case of inheritance
- PARAMS="${PARAMS%%\);*}"
-
- if [[ "$PARAMS" == *"const std::string& _type"* ]] ;
- then
- PARAMS="${PARAMS#*_type,}"
- NAME_STR="${NAME#${TYPE}_}"
- NAME_STR=$(UpperCase $NAME_STR)
- fi
-
- OLD=" class_name();"
- NEW="\ \ \ \ \ \ \ \ ${CLASSNAME}(${PARAMS});"
- NEW=${NEW//$'\n'/} # Remove all newlines.
- NEW=${NEW%$'\n'} # Remove a trailing newline.
- NEW=$(echo $NEW | sed 's/^ *//g' | sed 's/ *$//g') # remove extra whitespaces
- sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/class_template.h > "${TEMPLATES_PATH}"/tmp.h
-
- # CPP: class constructor with base class parameters
- PARAMS="$PARAMS," # add , at the end to ease things
- PARAMS=$(echo "$PARAMS" | sed 's/\ =.*,\ /,\ /g')
- PARAMS=$(echo "$PARAMS" | sed 's/\ =.*,/,/g')
- PARAMS="${PARAMS::-1}" # remove , from the end
-
- OLD="class_name::class_name() :"
- NEW="class_name::class_name(${PARAMS}) :"
- NEW=${NEW//$'\n'/} # Remove all newlines.
- NEW=${NEW%$'\n'} # Remove a trailing newline.
- NEW=$(echo $NEW | sed 's/^ *//g' | sed 's/ *$//g') # remove extra whitespaces
- sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/class_template.cpp > "${TEMPLATES_PATH}"/tmp.cpp
-
- # get only the variable names
- PARAMS_CLEAN=$(echo $PARAMS | sed -r 's/'","'/ /g')
- ar=($PARAMS_CLEAN)
- PARAMS_OBJ=
- for el in "${ar[@]}"; do
- if [[ $el == _* ]]
- then
- PARAMS_OBJ+=", ${el}"
- fi
- done
- PARAMS_OBJ=${PARAMS_OBJ#","}
- if ! [[ -z $NAME_STR ]] ;
- then
- PARAMS_OBJ="\"$NAME_STR\", $PARAMS_OBJ"
- fi
- OLD="\ base_class()"
- NEW="\ base_class(${PARAMS_OBJ} )"
- sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
- rm "${TEMPLATES_PATH}"/tmp.cpp
- mv "${TEMPLATES_PATH}"/tmp2.cpp "${TEMPLATES_PATH}"/tmp.cpp
+ # Header: class constructor with base class parameters
+ H_TXT=$(cat $BASE_H_PATH)
+ H_TXT="${H_TXT#*class $BASECLASSNAME :}"
+ BASECLASS_TXT="${H_TXT%%\n\};*}"
+ PARAMS="${BASECLASS_TXT#*$BASECLASSNAME(}"
+
+ BASE_DERIVES_FROM_AUTODIFF=""
+ if [[ $PARAMS =~ .*ConstraintAutodiff*. ]] && ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
+ then
+ BASE_DERIVES_FROM_AUTODIFF="TRUE"
+ fi
+
+ PARAMS="${PARAMS%%\) :*}" # in case of inheritance
+ PARAMS="${PARAMS%%\);*}"
+
+ if [[ "$PARAMS" == *"const std::string& _type"* ]] ;
+ then
+ PARAMS="${PARAMS#*_type,}"
+ NAME_STR="${NAME#${TYPE}_}"
+ NAME_STR=$(UpperCase $NAME_STR)
+ fi
+
+ if [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
+ then
+ PARAMS="${PARAMS::-530}" # remove , from the end
+ fi
+
+ OLD=" class_name();"
+ NEW="\ \ \ \ \ \ \ \ ${CLASSNAME}(${PARAMS});"
+ NEW=${NEW//$'\n'/} # Remove all newlines.
+ NEW=${NEW%$'\n'} # Remove a trailing newline.
+ NEW=$(echo $NEW | sed 's/^ *//g' | sed 's/ *$//g') # remove extra whitespaces
+ sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/class_template.h > "${TEMPLATES_PATH}"/tmp.h
+
+ # CPP: class constructor with base class parameters
+ PARAMS="$PARAMS," # add , at the end to ease things
+ PARAMS=$(echo "$PARAMS" | sed 's/\ =.*,\ /,\ /g')
+ PARAMS=$(echo "$PARAMS" | sed 's/\ =.*,/,/g')
+ PARAMS="${PARAMS::-1}" # remove , from the end
+
+ OLD="class_name::class_name() :"
+ NEW="class_name::class_name(${PARAMS}) :"
+ NEW=${NEW//$'\n'/} # Remove all newlines.
+ NEW=${NEW%$'\n'} # Remove a trailing newline.
+ NEW=$(echo $NEW | sed 's/^ *//g' | sed 's/ *$//g') # remove extra whitespaces
+ sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/class_template.cpp > "${TEMPLATES_PATH}"/tmp.cpp
+
+ # get only the variable names
+ PARAMS_CLEAN=$(echo $PARAMS | sed -r 's/'","'/ /g')
+ ar=($PARAMS_CLEAN)
+ PARAMS_OBJ=
+ for el in "${ar[@]}"; do
+ if [[ $el == _* ]]
+ then
+ PARAMS_OBJ+=", ${el}"
+ fi
+ done
+ PARAMS_OBJ=${PARAMS_OBJ#","}
+ if ! [[ -z $NAME_STR ]] ;
+ then
+ PARAMS_OBJ="\"$NAME_STR\", $PARAMS_OBJ"
+ fi
+ OLD="\ base_class()"
+ NEW="\ base_class(${PARAMS_OBJ} )"
+ sed '/'"${OLD}"'/c'"${NEW}"'' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
+ rm "${TEMPLATES_PATH}"/tmp.cpp
+ mv "${TEMPLATES_PATH}"/tmp2.cpp "${TEMPLATES_PATH}"/tmp.cpp
}
createHCPPFromTemplates()
{
- # Templates path
- TEMPLATES_PATH=${WOLF_SCRIPTS_PATH}/templates
-
- # ===== Create HEADER and CPP files =====
-
- # Pick initialization parameters from base class
- fillWithBaseConstructorParameters
-
- # CPP only for non-autodiff
- if ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
- then
- #Set the TYPE and class names on the template files
- sed 's/header_file/'"${NAME}.h"'/g' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
- sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp2.cpp > "${TEMPLATES_PATH}"/tmp3.cpp
- sed 's/base_class/'"${BASECLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp3.cpp > "${TEMPLATES_PATH}"/tmp4.cpp
- rm "${TEMPLATES_PATH}"/tmp.cpp
- rm "${TEMPLATES_PATH}"/tmp2.cpp
- rm "${TEMPLATES_PATH}"/tmp3.cpp
- # Rename and move files
- NAME_CPP_PATH="$WOLF_ROOT"/src/"$TYPE"s/"$NAME".cpp
- mv "${TEMPLATES_PATH}"/tmp4.cpp "$NAME_CPP_PATH"
- fi
+ # Templates path
+ TEMPLATES_PATH=${WOLF_SCRIPTS_PATH}/templates
+
+ # ===== Create HEADER and CPP files =====
+
+ # Pick initialization parameters from base class
+ fillWithBaseConstructorParameters
+
+ # CPP only for non-autodiff
+ if ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
+ then
+ #Set the TYPE and class names on the template files
+ sed 's/header_file/'"${NAME}.h"'/g' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
+ sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp2.cpp > "${TEMPLATES_PATH}"/tmp3.cpp
+ sed 's/base_class/'"${BASECLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp3.cpp > "${TEMPLATES_PATH}"/tmp4.cpp
+ rm "${TEMPLATES_PATH}"/tmp.cpp
+ rm "${TEMPLATES_PATH}"/tmp2.cpp
+ rm "${TEMPLATES_PATH}"/tmp3.cpp
+ # Rename and move files
+ NAME_CPP_PATH="$WOLF_ROOT"/src/"$TYPE"s/"$NAME".cpp
+ mv "${TEMPLATES_PATH}"/tmp4.cpp "$NAME_CPP_PATH"
+ fi
- sed 's/base_header_file/'"${BASE}.h"'/g' "${TEMPLATES_PATH}"/tmp.h > "${TEMPLATES_PATH}"/tmp2.h
- sed 's/name_cap/'"${TYPE_CAP}_${BASE_CAP}_${NAME_CAP}"'/g' "${TEMPLATES_PATH}"/tmp2.h > "${TEMPLATES_PATH}"/tmp3.h
- sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp3.h > "${TEMPLATES_PATH}"/tmp4.h
- sed 's/base_class/'"${BASECLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp4.h > "${TEMPLATES_PATH}"/tmp5.h
- rm "${TEMPLATES_PATH}"/tmp.h
- rm "${TEMPLATES_PATH}"/tmp2.h
- rm "${TEMPLATES_PATH}"/tmp3.h
- rm "${TEMPLATES_PATH}"/tmp4.h
+ sed 's/base_header_file/'"${BASE}.h"'/g' "${TEMPLATES_PATH}"/tmp.h > "${TEMPLATES_PATH}"/tmp2.h
+ sed 's/name_cap/'"${TYPE_CAP}_${BASE_CAP}_${NAME_CAP}"'/g' "${TEMPLATES_PATH}"/tmp2.h > "${TEMPLATES_PATH}"/tmp3.h
+ sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp3.h > "${TEMPLATES_PATH}"/tmp4.h
+ sed 's/base_class/'"${BASECLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp4.h > "${TEMPLATES_PATH}"/tmp5.h
+ rm "${TEMPLATES_PATH}"/tmp.h
+ rm "${TEMPLATES_PATH}"/tmp2.h
+ rm "${TEMPLATES_PATH}"/tmp3.h
+ rm "${TEMPLATES_PATH}"/tmp4.h
- # Rename and move files
- NAME_H_PATH="$WOLF_ROOT"/src/"$TYPE"s/"$NAME".h
- mv "${TEMPLATES_PATH}"/tmp5.h "$NAME_H_PATH"
+ # Rename and move files
+ NAME_H_PATH="$WOLF_ROOT"/src/"$TYPE"s/"$NAME".h
+ mv "${TEMPLATES_PATH}"/tmp5.h "$NAME_H_PATH"
}
addAutodiffSpecifics()
{
- # Number of parameters
- echo ""
- echo "${CYAN}To create the class $CLASSNAME, you have to provide some info:${NC}"
- echo ""
-
- PROMPT="${CYAN}- What is the size (dimensions) of the residual?${NC} (1 integer, followed by [ENTER]):"
- read -p "${PROMPT}" RESIDUAL_DIM;
- if ! [[ "$RESIDUAL_DIM" =~ ^[0-9]+$ ]] ;
- then
- echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
- exit 1.
- fi
- echo -en "\033[1A\033[2K"
- echo -en "\033[1A\033[2K"
- echo "${GREEN} \--> Setting residual size to $RESIDUAL_DIM.${NC}"
- echo ""
- PROMPT="${CYAN}- How many state blocks are going to be considered in the constraint?${NC} (1 integer, followed by [ENTER]):"
- read -p "${PROMPT}" NUM_STATES;
- if ! [[ "$NUM_STATES" =~ ^[0-9]+$ ]] ;
- then
- echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
- exit 1.
- fi
- echo -en "\033[1A\033[2K"
- echo -en "\033[1A\033[2K"
- echo "${GREEN} \--> Setting $NUM_STATES state blocks.${NC}"
- echo ""
+ # Number of parameters
+ echo ""
+ echo "${CYAN}To create the class $CLASSNAME, you have to provide some info:${NC}"
+ echo ""
+
+ PROMPT="${CYAN}- What is the size (dimensions) of the residual?${NC} (1 integer, followed by [ENTER]):"
+ read -p "${PROMPT}" RESIDUAL_DIM;
+ if ! [[ "$RESIDUAL_DIM" =~ ^[0-9]+$ ]] ;
+ then
+ echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
+ exit 1.
+ fi
+ echo -en "\033[1A\033[2K"
+ echo -en "\033[1A\033[2K"
+ echo "${GREEN} \--> Setting residual size to $RESIDUAL_DIM.${NC}"
+ echo ""
+ PROMPT="${CYAN}- How many state blocks are going to be considered in the constraint?${NC} (1 integer, followed by [ENTER]):"
+ read -p "${PROMPT}" NUM_STATES;
+ if ! [[ "$NUM_STATES" =~ ^[0-9]+$ ]] ;
+ then
+ echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
+ exit 1.
+ fi
+ echo -en "\033[1A\033[2K"
+ echo -en "\033[1A\033[2K"
+ echo "${GREEN} \--> Setting $NUM_STATES state blocks.${NC}"
+ echo ""
- for (( idx = 0; idx < $NUM_STATES; idx++ )); do
- PROMPT="${CYAN}- Name of state $((idx+1))?${NC} (1 string, followed by [ENTER]):"
- read -p "${PROMPT}" STATENAME;
- PROMPT="${CYAN}- Size (dimensions) of state $((idx+1)) (${STATENAME})?${NC} (1 integer, followed by [ENTER]:"
- read -p "${PROMPT}" STATESIZE;
- if ! [[ "$STATESIZE" =~ ^[0-9]+$ ]] ;
- then
- echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
- exit 1.
- fi
- echo -en "\033[1A\033[2K"
- echo -en "\033[1A\033[2K"
- NAMES+=( "${STATENAME}" )
- SIZES+=( "${STATESIZE}" )
- done
-
- echo -en "\033[1A\033[2K"
- echo -n "${GREEN} \--> Setting state blocks: ${NC}"
- PARAMS=
- for (( idx = 0; idx < ${#NAMES[@]}; idx++ )); do
- echo -n "${GREEN}${NAMES[$idx]}(${SIZES[$idx]}) ${NC}"
- PARAMS+=( "const T* const _${NAMES[idx]},")
- PARAM_NUMS+=( "${SIZES[idx]},")
- done
- echo ""
+ for (( idx = 0; idx < $NUM_STATES; idx++ )); do
+ PROMPT="${CYAN}- Name of state $((idx+1))?${NC} (1 string, followed by [ENTER]):"
+ read -p "${PROMPT}" STATENAME;
+ PROMPT="${CYAN}- Size (dimensions) of state $((idx+1)) (${STATENAME})?${NC} (1 integer, followed by [ENTER]:"
+ read -p "${PROMPT}" STATESIZE;
+ if ! [[ "$STATESIZE" =~ ^[0-9]+$ ]] ;
+ then
+ echo "${RED} [ERROR]: Invalid input.${NC} Expecting a numeric value. Aborting..."
+ exit 1.
+ fi
+ echo -en "\033[1A\033[2K"
+ echo -en "\033[1A\033[2K"
+ NAMES+=( "${STATENAME}" )
+ SIZES+=( "${STATESIZE}" )
+ done
+
+ echo -en "\033[1A\033[2K"
+ echo -n "${GREEN} \--> Setting state blocks: ${NC}"
+ PARAMS=
+ for (( idx = 0; idx < ${#NAMES[@]}; idx++ )); do
+ echo -n "${GREEN}${NAMES[$idx]}(${SIZES[$idx]}) ${NC}"
+ PARAMS+=( "const T* const _${NAMES[idx]},")
+ PARAM_NUMS+=( "${SIZES[idx]},")
+ done
+ echo ""
- PARAMS[-1]=${PARAMS[-1]%?}
- PARAM_NUMS[-1]=${PARAM_NUMS[-1]%?}
+ PARAMS[-1]=${PARAMS[-1]%?}
+ PARAM_NUMS[-1]=${PARAM_NUMS[-1]%?}
- sed -i "s/public $BASECLASSNAME/public $BASECLASSNAME<$CLASSNAME, $RESIDUAL_DIM, ${PARAM_NUMS[*]}>/g" "$NAME_H_PATH"
- sed -i "/virtual \~$CLASSNAME/a\ \n\ \/\*\* \brief : compute the residual from the state blocks being iterated by the solver.\n \ \*\*\/\n\ template<typename T>\n\ bool operator ()(${PARAMS[*]}, T* _residuals) const;\n" "$NAME_H_PATH"
- sed -i "/\} \/\/ namespace wolf/a\ \n\/\/ Include here all headers for this class\n\/\/\#include <YOUR_HEADERS.h>\n\nnamespace wolf\n\{\n\ntemplate<typename T> bool $CLASSNAME::operator ()(${PARAMS[*]}, T* _residuals) const\n\{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::operator () is empty.\" << std::endl;\n \/\/ TODO: Implement\n return true;\n\}\n\n\} \/\/ namespace wolf" "$NAME_H_PATH"
+ sed -i "s/public $BASECLASSNAME/public $BASECLASSNAME<$CLASSNAME, $RESIDUAL_DIM, ${PARAM_NUMS[*]}>/g" "$NAME_H_PATH"
+ sed -i "/virtual \~$CLASSNAME/a\ \n\ \/\*\* \brief : compute the residual from the state blocks being iterated by the solver.\n \ \*\*\/\n\ template<typename T>\n\ bool operator ()(${PARAMS[*]}, T* _residuals) const;\n" "$NAME_H_PATH"
+ sed -i "/\} \/\/ namespace wolf/a\ \n\/\/ Include here all headers for this class\n\/\/\#include <YOUR_HEADERS.h>\n\nnamespace wolf\n\{\n\ntemplate<typename T> bool $CLASSNAME::operator ()(${PARAMS[*]}, T* _residuals) const\n\{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::operator () is empty.\" << std::endl;\n \/\/ TODO: Implement\n return true;\n\}\n\n\} \/\/ namespace wolf" "$NAME_H_PATH"
}
fillWithBaseVirtualMethods()
{
- if ! [ -z $BASE_DERIVES_FROM_AUTODIFF ] ;
- then
- echo "${YELLOW} [ WARN]: Base class $BASECLASSNAME derives from AUTODIFF template. New .h and .cpp files are left without inherited functions."
- else
-
- if [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
- then
- addAutodiffSpecifics
- else
- # Get base class
- H_TXT=$(cat $BASE_H_PATH)
- H_TXT="${H_TXT##*class $BASECLASSNAME :}"
- BASECLASS_TXT="${H_TXT%%\n\};*}"
-
- echo "class $BASECLASSNAME :$BASECLASS_TXT };" > "${WOLF_SCRIPTS_PATH}"/class.h
-
- # H file Get Virtual function declarations with help
- sed -e '/./{H;$!d;}' -e 'x;/ = 0;/!d;' "${WOLF_SCRIPTS_PATH}"/class.h > "${WOLF_SCRIPTS_PATH}"/tmp.h
- sed -r 's/'" = 0"'//g' "${WOLF_SCRIPTS_PATH}"/tmp.h > "${WOLF_SCRIPTS_PATH}"/tmp2.h
- sed -i -e "/virtual \~$CLASSNAME/r ${WOLF_SCRIPTS_PATH}/tmp2.h" "$NAME_H_PATH"
- rm "${WOLF_SCRIPTS_PATH}"/tmp.h
- rm ${WOLF_SCRIPTS_PATH}/tmp2.h
+ if ! [ -z $BASE_DERIVES_FROM_AUTODIFF ] ;
+ then
+ echo "${YELLOW} [ WARN]: Base class $BASECLASSNAME derives from AUTODIFF template. New .h and .cpp files are left without inherited functions."
+ else
+ if [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
+ then
+ addAutodiffSpecifics
+ else
+ # Get base class
+ H_TXT=$(cat $BASE_H_PATH)
+ H_TXT="${H_TXT##*class $BASECLASSNAME :}"
+ BASECLASS_TXT="${H_TXT%%\n\};*}"
+
+ echo "class $BASECLASSNAME :$BASECLASS_TXT };" > "${WOLF_SCRIPTS_PATH}"/class.h
+
+ # H file Get Virtual function declarations with help
+ sed -e '/./{H;$!d;}' -e 'x;/ = 0;/!d;' "${WOLF_SCRIPTS_PATH}"/class.h > "${WOLF_SCRIPTS_PATH}"/tmp.h
+ sed -r 's/'" = 0"'//g' "${WOLF_SCRIPTS_PATH}"/tmp.h > "${WOLF_SCRIPTS_PATH}"/tmp2.h
+ sed -i -e "/virtual \~$CLASSNAME/r ${WOLF_SCRIPTS_PATH}/tmp2.h" "$NAME_H_PATH"
+ rm "${WOLF_SCRIPTS_PATH}"/tmp.h
+ rm ${WOLF_SCRIPTS_PATH}/tmp2.h
- # CPP file
- FuncInBase=$(grep -e " = 0;" -e "=0;" "${WOLF_SCRIPTS_PATH}/class.h")
- rm "${WOLF_SCRIPTS_PATH}"/class.h
+ # CPP file
+ FuncInBase=$(grep -e " = 0;" -e "=0;" "${WOLF_SCRIPTS_PATH}/class.h")
+ rm "${WOLF_SCRIPTS_PATH}"/class.h
- D=";" #Multi Character Delimiter
- FuncList=($(echo $FuncInBase | sed -e 's/'"$D"'/\n/g' | while read line; do echo $line | sed 's/[\t ]/'"$D"'/g'; done))
-
- for (( idx = $((${#FuncList[@]}-1)); idx > -1; idx-- )); do
- TMP=$(echo ${FuncList[idx]} | sed -r 's/'"$D"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'"virtual"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'"=0"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'" = 0"'/ /g')
- TXTH=${TMP%$TMP##*[![:space:]]}
- TXTCPP_3=$(echo $TXTH | sed 's/.*(//g')
- TXTCPP_2=$(echo $TXTH | sed 's/(.*//g' | sed 's/.* //g')
- TXTCPP_1=$(echo $TXTH | sed 's/'"$TXTCPP_2"'.*//g')
+ D=";" #Multi Character Delimiter
+ FuncList=($(echo $FuncInBase | sed -e 's/'"$D"'/\n/g' | while read line; do echo $line | sed 's/[\t ]/'"$D"'/g'; done))
+
+ for (( idx = $((${#FuncList[@]}-1)); idx > -1; idx-- )); do
+ TMP=$(echo ${FuncList[idx]} | sed -r 's/'"$D"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'"virtual"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'"=0"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'" = 0"'/ /g')
+ TXTH=${TMP%$TMP##*[![:space:]]}
+ TXTCPP_3=$(echo $TXTH | sed 's/.*(//g')
+ TXTCPP_2=$(echo $TXTH | sed 's/(.*//g' | sed 's/.* //g')
+ TXTCPP_1=$(echo $TXTH | sed 's/'"$TXTCPP_2"'.*//g')
- # CPP file
- TXTCPP_3=$(echo "$TXTCPP_3" | sed -r 's/\*\*+/XXXX/g') ## remove **
- TXTCPP_3=$(echo "$TXTCPP_3" | sed -r 's/\*+/YYYY/g') ## remove *
- sed -i "/\} \/\/ namespace wolf/i ${TXTCPP_1}${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}" "$NAME_CPP_PATH"
- if ! [[ $TXTCPP_1 =~ .*void*. ]]
- then
- sed -i "/${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}/a \{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::${TXTCPP_2} is empty.\" << std::endl;\n ${TXTCPP_1}return_var\{\}; \/\/TODO: fill this variable\n return return_var;\n\}\n" "$NAME_CPP_PATH"
- else
- sed -i "/${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}/a \{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::${TXTCPP_2} is empty.\" << std::endl;\n\}\n" "$NAME_CPP_PATH"
- fi
- sed -i -r 's/'"XXXX"'/'"**"'/g' "$NAME_CPP_PATH" # add again **
- sed -i -r 's/'"YYYY"'/'"*"'/g' "$NAME_CPP_PATH" # add again *
- done
- fi
- fi
+ # CPP file
+ if ! [[ ${TXTCPP_2:0:1} == "_" ]] ## Avoid considering lines where its just a part of the declaration with initial input params _aa"
+ then
+ TXTCPP_3=$(echo "$TXTCPP_3" | sed -r 's/\*\*+/XXXX/g') ## remove **
+ TXTCPP_3=$(echo "$TXTCPP_3" | sed -r 's/\*+/YYYY/g') ## remove *
+ sed -i "/\} \/\/ namespace wolf/i ${TXTCPP_1}${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}" "$NAME_CPP_PATH"
+ if ! [[ $TXTCPP_1 =~ .*void*. ]]
+ then
+ sed -i "/${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}/a \{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::${TXTCPP_2} is empty.\" << std::endl;\n ${TXTCPP_1}return_var\{\}; \/\/TODO: fill this variable\n return return_var;\n\}\n" "$NAME_CPP_PATH"
+ else
+ sed -i "/${CLASSNAME}::${TXTCPP_2}(${TXTCPP_3}/a \{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m ${CLASSNAME}::${TXTCPP_2} is empty.\" << std::endl;\n\}\n" "$NAME_CPP_PATH"
+ fi
+ sed -i -r 's/'"XXXX"'/'"**"'/g' "$NAME_CPP_PATH" # add again **
+ sed -i -r 's/'"YYYY"'/'"*"'/g' "$NAME_CPP_PATH" # add again *
+ fi
+ done
+ fi
+ fi
}
updateCMakeLists()
{
- CML_PATH="${WOLF_ROOT}/src/${TYPE}s/CMakeLists.txt"
+ CML_PATH="${WOLF_ROOT}/src/${TYPE}s/CMakeLists.txt"
- # Add Header source
- Hsources=( $(grep -e ".h" "${CML_PATH}") )
- NewH="\${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h"
-
- # Check if already exists
- EXISTS=0
- for (( idx = 0; idx < ${#Hsources[@]}; idx++ )); do
- if [ "${Hsources[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".h" ] ;
- then
- EXISTS=1
- fi
- done
-
- if [ $EXISTS == 0 ] ;
- then
- Hsources=( "${Hsources[@]}" $NewH )
- IFS=$'\n'
- sorted=($(sort <<<"${Hsources[*]}"))
- unset IFS
- SET_AFTER_POS=-2
+ # Add Header source
+ NewH="\${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h"
+
+ # get file names after conditionals ENDIF is the match
+ sed '1,/ENDIF/d' "${CML_PATH}" > "${WOLF_SCRIPTS_PATH}"/tmp.h
+ Hsources=( $(grep -e "\.h" "${WOLF_SCRIPTS_PATH}"/tmp.h) )
+ rm "${WOLF_SCRIPTS_PATH}"/tmp.h
+
+ # Check if already exists
+ EXISTS=0
+ for (( idx = 0; idx < ${#Hsources[@]}; idx++ )); do
+ if [ "${Hsources[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".h" ] ;
+ then
+ EXISTS=1
+ fi
+ done
+
+ if [ $EXISTS == 0 ] ;
+ then
+ Hsources=( "${Hsources[@]}" $NewH )
+ IFS=$'\n'
+ sorted=($(sort <<<"${Hsources[*]}"))
+ unset IFS
+ SET_AFTER_POS=-2
- for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
- if [ "${sorted[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".h" ] ;
- then
- SET_AFTER_POS=$(( idx-1 ))
- if [ $SET_AFTER_POS == -1 ] ;
- then
- if [ ${#sorted[@]} == 1 ] ;
- then
- sed -i "\%HDRS_CONSTRAINT%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
- else
- sed -i "\%${sorted[1]}%i \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
- fi
- else
- sed -i "\%${sorted[$SET_AFTER_POS]}%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
- fi
- fi
- done
+ for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
+ if [ "${sorted[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".h" ] ;
+ then
+ SET_AFTER_POS=$(( idx-1 ))
+ if [ $SET_AFTER_POS == -1 ] ;
+ then
+ if [ ${#sorted[@]} == 1 ] ;
+ then
+ sed -i "\%HDRS_CONSTRAINT%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
+ else
+ sed -i "\%${sorted[1]}%i \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
+ fi
+ else
+ sed -i "\%${sorted[$SET_AFTER_POS]}%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.h" "$CML_PATH"
+ fi
+ fi
+ done
- if ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
- then
- # Add CPP source
- Hsources=( $(grep -e ".cpp" "${CML_PATH}") )
- NewCPP="\${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp"
- Hsources=( "${Hsources[@]}" $NewCPP )
- IFS=$'\n'
- sorted=($(sort <<<"${Hsources[*]}"))
- unset IFS
- SET_AFTER_POS=-2
+ if ! [[ $BASECLASSNAME =~ .*ConstraintAutodiff*. ]] ;
+ then
+ # Add CPP source
+ NewCPP="\${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp"
- for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
- if [ "${sorted[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".cpp" ] ;
- then
- SET_AFTER_POS=$(( idx-1 ))
- if [ $SET_AFTER_POS == -1 ] ;
- then
- if [ ${#sorted[@]} == 1 ] ;
- then
- sed -i "\%SRCS_CONSTRAINT%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
- else
- sed -i "\%${sorted[1]}%i \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
- fi
- else
- sed -i "\%${sorted[$SET_AFTER_POS]}%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
- fi
- fi
- done
- fi
- echo "$CML_PATH"
- else
- echo ""
- fi
+ # get file names after conditionals ENDIF is the match
+ sed '1,/ENDIF/d' "${CML_PATH}" > "${WOLF_SCRIPTS_PATH}"/tmp.h
+ Hsources=( $(grep -e "\.cpp" "${WOLF_SCRIPTS_PATH}"/tmp.h) )
+ rm "${WOLF_SCRIPTS_PATH}"/tmp.h
+ Hsources=( "${Hsources[@]}" $NewCPP )
+
+ IFS=$'\n'
+ sorted=($(sort <<<"${Hsources[*]}"))
+ unset IFS
+ SET_AFTER_POS=-2
+
+ for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
+ if [ "${sorted[idx]}" == "\${CMAKE_CURRENT_SOURCE_DIR}/"$NAME".cpp" ] ;
+ then
+ SET_AFTER_POS=$(( idx-1 ))
+ if [ $SET_AFTER_POS == -1 ] ;
+ then
+ if [ ${#sorted[@]} == 1 ] ;
+ then
+ sed -i "\%SRCS_CONSTRAINT%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
+ else
+ sed -i "\%${sorted[1]}%i \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
+ fi
+ else
+ sed -i "\%${sorted[$SET_AFTER_POS]}%a \ \${CMAKE_CURRENT_SOURCE_DIR}/$NAME.cpp" "$CML_PATH"
+ fi
+ fi
+ done
+ fi
+ echo "$CML_PATH"
+ else
+ echo ""
+ fi
}
createGtest()
{
- # ===== Create gtest file =====
- # Templates path
- TEMPLATES_PATH=${WOLF_SCRIPTS_PATH}/templates
-
- # Set the include and class names on the template files
- sed 's/header_file/'"${TYPE}s\/${NAME}.h"'/g' "${TEMPLATES_PATH}"/gtest_template.cpp > "${TEMPLATES_PATH}"/tmp.cpp
- sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
- rm "${TEMPLATES_PATH}"/tmp.cpp
-
- FUNC_NAMES=
- # Insert dummy tests for all methods
- for (( idx = $((${#FuncList[@]}-1)); idx > -1; idx-- )); do
- TMP=$(echo ${FuncList[idx]} | sed -r 's/'"$D"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'"virtual"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'"=0"'/ /g')
- TMP=$(echo $TMP | sed -r 's/'" = 0"'/ /g')
- TMP=${TMP%$TMP##*[![:space:]]}
- TMP=$(echo $TMP | sed 's/(.*//g' | sed 's/.* //g')
- if ! grep -q "$TMP" "${TEMPLATES_PATH}"/tmp2.cpp
- then
- sed -i "/\[Class methods\]/a TEST($CLASSNAME, $TMP)\n\{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m gtest for ${CLASSNAME} ${TMP} is empty.\" << std::endl;\n\}\n" "${TEMPLATES_PATH}"/tmp2.cpp
- fi
- done
-
- GTEST_PATH="${WOLF_ROOT}"/src/test/gtest_${NAME}.cpp
- mv "${TEMPLATES_PATH}"/tmp2.cpp $GTEST_PATH
+ # ===== Create gtest file =====
+ # Templates path
+ TEMPLATES_PATH=${WOLF_SCRIPTS_PATH}/templates
+
+ # Set the include and class names on the template files
+ sed 's/header_file/'"${TYPE}s\/${NAME}.h"'/g' "${TEMPLATES_PATH}"/gtest_template.cpp > "${TEMPLATES_PATH}"/tmp.cpp
+ sed 's/class_name/'"${CLASSNAME}"'/g' "${TEMPLATES_PATH}"/tmp.cpp > "${TEMPLATES_PATH}"/tmp2.cpp
+ rm "${TEMPLATES_PATH}"/tmp.cpp
+
+ FUNC_NAMES=
+ # Insert dummy tests for all methods
+ for (( idx = $((${#FuncList[@]}-1)); idx > -1; idx-- )); do
+ TMP=$(echo ${FuncList[idx]} | sed -r 's/'"$D"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'"virtual"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'"=0"'/ /g')
+ TMP=$(echo $TMP | sed -r 's/'" = 0"'/ /g')
+ TMP=${TMP%$TMP##*[![:space:]]}
+ TMP=$(echo $TMP | sed 's/(.*//g' | sed 's/.* //g')
+ if ! grep -q "$TMP" "${TEMPLATES_PATH}"/tmp2.cpp
+ then
+ if ! [[ ${TMP:0:1} == "_" ]] ## Avoid considering lines where its just a part of the declaration with initial input params _aa"
+ then
+ sed -i "/\[Class methods\]/a TEST($CLASSNAME, $TMP)\n\{\n std::cout << \"\\033[1;33m [WARN]:\\033[0m gtest for ${CLASSNAME} ${TMP} is empty.\" << std::endl;\n\}\n" "${TEMPLATES_PATH}"/tmp2.cpp
+ fi
+ fi
+ done
+
+ GTEST_PATH="${WOLF_ROOT}"/src/test/gtest_${NAME}.cpp
+ mv "${TEMPLATES_PATH}"/tmp2.cpp $GTEST_PATH
}
updateCMakeListsGTest()
{
- CML_GTEST_PATH="${WOLF_ROOT}/src/test/CMakeLists.txt"
-
- DERIVED_TXT=$(cat $CML_GTEST_PATH | sed '/^#/!d')
- DERIVED_TXT="${DERIVED_TXT##*\# ------- Now Derived classes ----------}"
- DERIVED_TXT="${DERIVED_TXT%%\# ------- Now Core classes Serialization ----------*}"
- DERIVED_TXT=$(echo "$DERIVED_TXT" | sed '/^\s*$/d')
- IFS=$'\n'
- DERIVED_TXT=($(echo "$DERIVED_TXT" | sed -r 's/'"#\s"'/ /g'))
- for (( idx = 0; idx < ${#DERIVED_TXT[@]}; idx++ )); do
- DERIVED_TXT[idx]=${DERIVED_TXT[idx]#" "}
- DERIVED_TXT[idx]=$(echo ${DERIVED_TXT[idx]} | sed 's/ .*//')
- done
-
- New="${CLASSNAME}"
-
- # Check if already exists
- EXISTS=0
- for (( idx = 0; idx < ${#DERIVED_TXT[@]}; idx++ )); do
- if [ "${DERIVED_TXT[idx]}" == "$New" ] ;
- then
- EXISTS=1
- fi
- done
+ CML_GTEST_PATH="${WOLF_ROOT}/src/test/CMakeLists.txt"
+
+ DERIVED_TXT=$(cat $CML_GTEST_PATH | sed '/^#/!d')
+ DERIVED_TXT="${DERIVED_TXT##*\# ------- Now Derived classes ----------}"
+ DERIVED_TXT="${DERIVED_TXT%%\# ------- Now Core classes Serialization ----------*}"
+ DERIVED_TXT=$(echo "$DERIVED_TXT" | sed '/^\s*$/d')
+ IFS=$'\n'
+ DERIVED_TXT=($(echo "$DERIVED_TXT" | sed -r 's/'"#\s"'/ /g'))
+ for (( idx = 0; idx < ${#DERIVED_TXT[@]}; idx++ )); do
+ DERIVED_TXT[idx]=${DERIVED_TXT[idx]#" "}
+ DERIVED_TXT[idx]=$(echo ${DERIVED_TXT[idx]} | sed 's/ .*//')
+ done
+
+ New="${CLASSNAME}"
+
+ # Check if already exists
+ EXISTS=0
+ for (( idx = 0; idx < ${#DERIVED_TXT[@]}; idx++ )); do
+ if [ "${DERIVED_TXT[idx]}" == "$New" ] ;
+ then
+ EXISTS=1
+ fi
+ done
- if [ $EXISTS == 0 ] ;
- then
- DERIVED_TXT=( "${DERIVED_TXT[@]}" $New )
- IFS=$'\n'
- sorted=($(sort <<<"${DERIVED_TXT[*]}"))
- unset IFS
- SET_BEFORE_POS=-2
- for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
- if [ "${sorted[idx]}" == "$New" ] ;
- then
- SET_BEFORE_POS=$(( idx+1 ))
- if [ $SET_BEFORE_POS == ${#sorted[@]} ] ;
- then
- SET_BEFORE_POS=$(( idx ))
- fi
- fi
- done
- if [[ $SET_BEFORE_POS = $(( ${#sorted[@]}-1 )) ]] ;
- then
- sed -i "\%------- Now Core classes Serialization ----------%i # $New test\nwolf_add_gtest(gtest_$NAME gtest_$NAME.cpp)\ntarget_link_libraries(gtest_$NAME \$\{PROJECT_NAME\})\n" "${CML_GTEST_PATH}"
- else
- sed -i "\%${sorted[$SET_BEFORE_POS]}%i # $New test\nwolf_add_gtest(gtest_$NAME gtest_$NAME.cpp)\ntarget_link_libraries(gtest_$NAME \$\{PROJECT_NAME\})\n" "${CML_GTEST_PATH}"
- fi
- echo "$CML_GTEST_PATH"
- else
- echo ""
+ if [ $EXISTS == 0 ] ;
+ then
+ DERIVED_TXT=( "${DERIVED_TXT[@]}" $New )
+ IFS=$'\n'
+ sorted=($(sort <<<"${DERIVED_TXT[*]}"))
+ unset IFS
+ SET_BEFORE_POS=-2
+ for (( idx = 0; idx < ${#sorted[@]}; idx++ )); do
+ if [ "${sorted[idx]}" == "$New" ] ;
+ then
+ SET_BEFORE_POS=$(( idx+1 ))
+ if [ $SET_BEFORE_POS == ${#sorted[@]} ] ;
+ then
+ SET_BEFORE_POS=$(( idx ))
+ fi
+ fi
+ done
+ if [[ $SET_BEFORE_POS = $(( ${#sorted[@]}-1 )) ]] ;
+ then
+ sed -i "\%------- Now Core classes Serialization ----------%i # $New test\nwolf_add_gtest(gtest_$NAME gtest_$NAME.cpp)\ntarget_link_libraries(gtest_$NAME \$\{PROJECT_NAME\})\n" "${CML_GTEST_PATH}"
+ else
+ sed -i "\%${sorted[$SET_BEFORE_POS]}%i # $New test\nwolf_add_gtest(gtest_$NAME gtest_$NAME.cpp)\ntarget_link_libraries(gtest_$NAME \$\{PROJECT_NAME\})\n" "${CML_GTEST_PATH}"
+ fi
+ echo "$CML_GTEST_PATH"
+ else
+ echo ""
fi
}
diff --git a/wolf_scripts/generic_func/user_menu.sh b/wolf_scripts/generic_func/user_menu.sh
index f873d755b7fcbcd8ede51d52af06d0ceefc22dda..11c74a27a2b432efbdc91701e53354ed270d8e32 100755
--- a/wolf_scripts/generic_func/user_menu.sh
+++ b/wolf_scripts/generic_func/user_menu.sh
@@ -3,60 +3,60 @@ BASE=
TYPE=
while getopts ":t:n:b:" OPTION
do
- case ${OPTION} in
- t)
- TYPE=${OPTARG}
- ;;
- n)
- NAME=${OPTARG}
- ;;
- b)
- BASE=${OPTARG}
- ;;
- *)
- showHelp
- exit
- ;;
- esac
+ case ${OPTION} in
+ t)
+ TYPE=${OPTARG}
+ ;;
+ n)
+ NAME=${OPTARG}
+ ;;
+ b)
+ BASE=${OPTARG}
+ ;;
+ *)
+ showHelp
+ exit
+ ;;
+ esac
done
if [ -z "$TYPE" ] && [ -z "$NAME" ] && [ -z "$BASE" ]
then
- showHelp
- exit
+ showHelp
+ exit
fi
if [ -z "$TYPE" ] ;
then
- echo ""
- echo "${RED} [ERROR]: Missing TYPE value (-t).${NC}"
- echo ""
- showHelp
- exit
+ echo ""
+ echo "${RED} [ERROR]: Missing TYPE value (-t).${NC}"
+ echo ""
+ showHelp
+ exit
fi
if [ -z "$NAME" ] ;
then
- echo ""
- echo "${RED} [ERROR]: Missing NAME value (-n).${NC}"
- echo ""
- showHelp
- exit
+ echo ""
+ echo "${RED} [ERROR]: Missing NAME value (-n).${NC}"
+ echo ""
+ showHelp
+ exit
fi
if [ -z "$BASE" ] ;
then
- echo ""
- echo "${RED} [ERROR]: Missing BASE value (-b).${NC}"
- echo ""
- showHelp
- exit
+ echo ""
+ echo "${RED} [ERROR]: Missing BASE value (-b).${NC}"
+ echo ""
+ showHelp
+ exit
fi
-if ! [ "$TYPE" == "capture" ] && ! [ "$TYPE" == "constraint" ] && ! [ "$TYPE" == "feature" ] && ! [ "$TYPE" == "processor" ] && ! [ "$TYPE" == "sensor" ]
+if ! [ "$TYPE" == "capture" ] && ! [ "$TYPE" == "constraint" ] && ! [ "$TYPE" == "feature" ] && ! [ "$TYPE" == "landmark" ] && ! [ "$TYPE" == "processor" ] && ! [ "$TYPE" == "sensor" ]
then
- echo ""
- echo "${RED} --> Incorrect type \"$TYPE\". Please check the following instructions: ${NC}"
- echo ""
- showHelp
- exit 1
+ echo ""
+ echo "${RED} --> Incorrect type \"$TYPE\". Please check the following instructions: ${NC}"
+ echo ""
+ showHelp
+ exit 1
fi
NAME=$(LowerCase $NAME)
@@ -81,12 +81,12 @@ BASECLASSNAME=$TYPE_CAP1$(echo "$(echo "$BASECLASSNAME" | sed 's/.*/\u&/')")
if ! [[ $NAME =~ $TYPE ]] ;
then
- if [[ $BASE =~ .*base*. ]] ;
- then
- NAME="$TYPE"_"$NAME";
- else
- NAME="$TYPE"_"$BASE"_"$NAME";
- fi
+ if [[ $BASE =~ .*base*. ]] ;
+ then
+ NAME="$TYPE"_"$NAME";
+ else
+ NAME="$TYPE"_"$BASE"_"$NAME";
+ fi
fi
if ! [[ $BASE =~ $TYPE ]] ;
then
diff --git a/wolf_scripts/wolf_create.sh b/wolf_scripts/wolf_create.sh
index caa95ec03ee55f33da3409daef37a1598b498db1..e5f4184f686a012009a81a6724811847ff353cb3 100755
--- a/wolf_scripts/wolf_create.sh
+++ b/wolf_scripts/wolf_create.sh
@@ -33,10 +33,10 @@ echo "- Generating CPP and H files."
BASE_H_PATH=$(getFilePath $BASE.h)
if [ -z "$BASE_H_PATH" ]
then
- echo ""
- echo "${RED} [ERROR]: Cannot find header file for base class ${BASE}.${NC}"
- echo ""
- exit
+ echo ""
+ echo "${RED} [ERROR]: Cannot find header file for base class ${BASE}.${NC}"
+ echo ""
+ exit
fi
# Create Header and CPP files
@@ -56,9 +56,10 @@ echo "- Modifying CMakeLists.txt to include CPP and H files."
DONE=$(updateCMakeLists)
if [ -z "$DONE" ]
then
- echo "${YELLOW} \--x [WARN]: Not necessary. File entries already existing in CMakeLists.txt.${NC}"
+ echo "${YELLOW} \--x [WARN]: Not necessary. File entries already existing in CMakeLists.txt.${NC}"
else
- echo "${GREEN} \--> Updated ${DONE} file.${NC}"
+ echo "${GREEN} \--> Updated ${DONE} file.${NC}"
+ echo "${YELLOW} \--> [WARN] Consider adding conditional clues [IF/ELSE] in the CMakeLists.txt if you use external dependencies, hence avoiding compilation if you don't have them installed${NC}"
fi
# ===== Create gtest =====
@@ -79,9 +80,10 @@ echo "- Modifying CMakeLists.txt to include gtest files."
DONE=$(updateCMakeListsGTest)
if [ -z "$DONE" ]
then
- echo "${YELLOW} \--x [WARN]: Not necessary. gtest file entry already existing in CMakeLists.txt.${NC}"
+ echo "${YELLOW} \--x [WARN]: Not necessary. gtest file entry already existing in CMakeLists.txt.${NC}"
else
- echo "${GREEN} \--> Updated ${DONE} file.${NC}"
+ echo "${GREEN} \--> Updated ${DONE} file.${NC}"
+ echo "${YELLOW} \--> [WARN] Consider adding conditional clues [IF/ELSE] in the CMakeLists.txt if you use external dependencies, hence avoiding compilation if you don't have them installed${NC}"
fi
#============================================