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  • mobile_robotics/wolf_projects/wolf_lib/wolf
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.ci_templates/.install_core.yml
Edit View file @ 8feb5c7f
.install_wolf_script:
- cd ${CI_PROJECT_DIR}
# create 'ci_deps' folder (if not exists)
- mkdir -pv ci_deps
# clone or pull
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d wolf ]; then
- echo "directory wolf exists"
......@@ -10,6 +16,8 @@
- git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
- cd wolf
- fi
# build and install
- mkdir -pv build
- cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
......
.ci_templates/.license_headers.yml
Edit View file @ 8feb5c7f
......@@ -23,7 +23,7 @@
- echo "File license_manager.sh already exists."
- else
- echo "Downloading file license_manager.sh..."
- wget -P /ci_deps https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/wolf_scripts/license_manager.sh
- wget -P /ci_deps https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/scripts/license_manager.sh
- fi
# license headers
......@@ -40,7 +40,7 @@
- export PREV_YEAR=$(( CURRENT_YEAR-1 ))
- echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
- git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
- sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
- sed -i "s/${PREV_YEAR}/${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
# add new license headers to all files
- source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
- fi
......
.ci_templates/.yaml_schema_cpp.yml
Edit View file @ 8feb5c7f
......@@ -12,7 +12,7 @@
- git checkout main
- git pull
- else
- git clone -b main ssh://git@gitlab.iri.upc.edu:2202/labrobotica/algorithms/yaml-schema-cpp.git
- git clone -b main https://github.com/joanvallve/yaml-schema-cpp.git
- cd yaml-schema-cpp
- fi
......@@ -62,7 +62,7 @@
- tmp=${p%.*}
- name=${tmp:$folder_length+1}
- mkdir -p ${CI_PROJECT_DIR}/yaml_templates/$folder
- yaml_template_generator $name "[${CI_PROJECT_DIR}/schema ${CI_PROJECT_DIR}/ci_deps]" ${CI_PROJECT_DIR}/yaml_templates/$folder/$name.yaml
- yaml_template_generator $name "[${CI_PROJECT_DIR}/schema /usr/local/include/wolf ${EXTRA_SCHEMA_FOLDERS}]" ${CI_PROJECT_DIR}/yaml_templates/$folder/$name.yaml
- done <schemas.txt
# remove list of all schema files
......
.clang-format
Edit View file @ 8feb5c7f
---
Language: Cpp
BasedOnStyle: Google
IndentAccessModifiers: false
#IndentAccessModifiers: false
AccessModifierOffset: -2
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: true
......
.gitlab-ci.yml
Edit View file @ 8feb5c7f
include:
- '.ci_templates/.license_headers.yml'
- '.ci_templates/.yaml_schema_cpp.yml'
- '.ci_templates/.clang_format.yml'
- '.ci_templates/.preliminaries.yml'
# RUN the pipeline if it is triggered:
# - manually from web
# - scheduled
# - by a merge_request event
# - by a commit (push)
# DO NOT RUN the pipeline
# - after a commit in a MR (avoid duplicated pipelines)
workflow:
rules:
rules:
- if: '$CI_PIPELINE_SOURCE == "web"'
- if: $CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS && $CI_PIPELINE_SOURCE == "push"
when: never
- if: '$CI_PIPELINE_SOURCE == "schedule"'
- if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
- if: '$CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS'
when: never
......@@ -10,21 +22,20 @@ workflow:
stages:
- license
- clang
- yaml_templates
- build_and_test
- deploy_plugins
- final_plugins
- deploy_ros
- deploy_ros2
variables:
BUILD_TYPE: debug
############ YAML ANCHORS ############
.print_variables_template: &print_variables_definition
## FIX VARIABLES
- if [ "$CI_COMMIT_BRANCH" == "" ]; then
- export CI_COMMIT_BRANCH=$CI_MERGE_REQUEST_SOURCE_BRANCH_NAME
- fi
- export WOLF_CORE_BRANCH=$CI_COMMIT_BRANCH
# Print variables
- echo $CI_COMMIT_REF_NAME
- echo $CI_COMMIT_BRANCH
- echo $WOLF_CORE_BRANCH
- echo $WOLF_IMU_BRANCH
- echo $WOLF_GNSS_BRANCH
- echo $WOLF_LASER_BRANCH
......@@ -41,69 +52,28 @@ stages:
- echo $WOLF_ROS_VISION_BRANCH
- echo $WOLF_ROS_APRILTAG_BRANCH
- echo $WOLF_ROS_BODYDYNAMICS_BRANCH
- echo $WOLF_ROS2_NODE_BRANCH
- echo $WOLF_ROS2_IMU_BRANCH
- echo $WOLF_ROS2_GNSS_BRANCH
- echo $WOLF_ROS2_LASER_BRANCH
- echo $WOLF_ROS2_VISION_BRANCH
- echo $WOLF_ROS2_APRILTAG_BRANCH
- echo $WOLF_ROS2_BODYDYNAMICS_BRANCH
.preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker.
## (change apt-get to yum if you use an RPM-based image)
- 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
## Run ssh-agent (inside the build environment)
- eval $(ssh-agent -s)
## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
## We're using tr to fix line endings which makes ed25519 keys work
## without extra base64 encoding.
## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
# - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
- ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
# update apt
- apt-get update
.license_header_template: &license_header_definition
- cd $CI_PROJECT_DIR
- export WOLF_CORE_BRANCH=$CI_COMMIT_REF_NAME
# configure git
- export CI_NEW_BRANCH=ci_processing$RANDOM
- echo creating new temporary branch... $CI_NEW_BRANCH
- git config --global user.email "${CI_EMAIL}"
- git config --global user.name "${CI_USERNAME}"
- git checkout -b $CI_NEW_BRANCH # temporary branch
# license headers
- export CURRENT_YEAR=$( date +'%Y' )
- echo "current year:" ${CURRENT_YEAR}
- cd wolf_scripts
- if [ -f license_header_${CURRENT_YEAR}.txt ]; then
# add license headers to new files
- echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
- ./license_manager.sh --add --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
- else
# update license headers of all files
- export PREV_YEAR=$(( CURRENT_YEAR-1 ))
- echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
- git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
- sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
- ./license_manager.sh --update --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
- fi
- cd ..
# push changes (if any)
- if git commit -a -m "[skip ci] license headers added or modified" ; then
- git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
- git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
- else
- echo "No changes, nothing to commit!"
- fi
## PRINT VARIABLES
- *print_variables_definition
## preliminaries script (ssh, apt update and mkdir ci_deps)
- !reference [.preliminaries_script]
.build_and_test_template: &build_and_test_definition
- cd $CI_PROJECT_DIR
- mkdir -pv build
- cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- make -j$(nproc)
- ctest -j$(nproc) --output-on-failure
# run demos
......@@ -116,37 +86,89 @@ license_header:
stage: license
image: labrobotica/wolf_deps:20.04
before_script:
- *print_variables_definition
- *preliminaries_definition
script:
- *license_header_definition
- !reference [.license_header_script]
############ CLANG FORMAT ############
clang_format:
stage: clang
image: labrobotica/wolf_deps:20.04
before_script:
- *preliminaries_definition
script:
- !reference [.clang_format_script]
############ YAML TEMPLATES GENERATION ############
yaml_templates_generation:
stage: yaml_templates
image: labrobotica/wolf_deps:20.04
cache:
- key: yamlschemacpp-focal
paths:
- ci_deps/yaml-schema-cpp/
before_script:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
script:
- !reference [.generate_yaml_templates_script]
############ UBUNTU 18.04 TESTS ############
build_and_test:bionic:
stage: build_and_test
image: labrobotica/wolf_deps:18.04
cache:
- key: yamlschemacpp-bionic
paths:
- ci_deps/yaml-schema-cpp/
before_script:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
script:
- *print_variables_definition
- *build_and_test_definition
- export BUILD_TYPE=release
- *build_and_test_definition
############ UBUNTU 20.04 TESTS ############
build_and_test:focal:
stage: build_and_test
image: labrobotica/wolf_deps:20.04
cache:
- key: yamlschemacpp-focal
paths:
- ci_deps/yaml-schema-cpp/
before_script:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
script:
- *build_and_test_definition
- export BUILD_TYPE=release
- *build_and_test_definition
############ UBUNTU 22.04 TESTS ############
build_and_test:jammy:
stage: build_and_test
image: labrobotica/wolf_deps:22.04
cache:
- key: yamlschemacpp-jammy
paths:
- ci_deps/yaml-schema-cpp/
before_script:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
script:
- *print_variables_definition
- *build_and_test_definition
- export BUILD_TYPE=release
- *build_and_test_definition
############ DEPLOY PLUGINS ANY BRANCY EXCEPT FOR main ############
deploy_imu:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
DEPLOY_CI_ROS: "false"
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/imu
branch: $WOLF_IMU_BRANCH
......@@ -155,13 +177,11 @@ deploy_imu:
deploy_gnss:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/gnss
branch: $WOLF_GNSS_BRANCH
......@@ -170,12 +190,10 @@ deploy_gnss:
deploy_vision:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
DEPLOY_CI_ROS: "false"
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/vision
branch: $WOLF_VISION_BRANCH
......@@ -184,13 +202,11 @@ deploy_vision:
deploy_laser:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/laser
branch: $WOLF_LASER_BRANCH
......@@ -199,13 +215,11 @@ deploy_laser:
deploy_apriltag:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag
branch: $WOLF_APRILTAG_BRANCH
......@@ -214,13 +228,11 @@ deploy_apriltag:
deploy_bodydynamics:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH != "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics
branch: $WOLF_BODYDYNAMICS_BRANCH
......@@ -230,12 +242,10 @@ deploy_bodydynamics:
deploy_imu_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/imu
branch: main
......@@ -244,13 +254,11 @@ deploy_imu_main:
deploy_gnss_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/gnss
branch: main
......@@ -259,12 +267,10 @@ deploy_gnss_main:
deploy_vision_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/vision
branch: main
......@@ -273,13 +279,11 @@ deploy_vision_main:
deploy_laser_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/laser
branch: main
......@@ -288,13 +292,11 @@ deploy_laser_main:
deploy_apriltag_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
WOLF_VISION_BRANCH: main
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag
branch: main
......@@ -303,33 +305,23 @@ deploy_apriltag_main:
deploy_bodydynamics_main:
stage: deploy_plugins
rules:
- if: $CI_COMMIT_BRANCH == "main"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main"
variables:
WOLF_CORE_BRANCH: main
WOLF_IMU_BRANCH: main
DEPLOY_CI_ROS: "false"
DEPLOY_CI_ROS: false
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics
branch: main
strategy: depend
############ WAIT FOR PLUGINS ############
final_all_plugins:
stage: final_plugins
script:
- echo "ALL PLUGINS PIPELINES SUCCEED!!!"
############ DEPLOY WOLF_ROS_NODE EXCEPT FOR main ############
############ DEPLOY wolf_ros_node EXCEPT FOR main ############
deploy_wolf_ros_node:
stage: deploy_ros
rules:
- if: $CI_COMMIT_BRANCH != "main" && $DEPLOY_CI_ROS == "true"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME != "main" && $DEPLOY_CI_ROS == "true"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH
WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
......@@ -348,15 +340,13 @@ deploy_wolf_ros_node:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node
branch: $WOLF_ROS_NODE_BRANCH
############ DEPLOY WOLF_ROS_NODE FOR main ############
############ DEPLOY wolf_ros_node FOR main ############
deploy_wolf_ros_node_main:
stage: deploy_ros
rules:
- if: $CI_COMMIT_BRANCH == "main" && $DEPLOY_CI_ROS == "true"
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
when: never
- if: $CI_COMMIT_REF_NAME == "main" && $DEPLOY_CI_ROS == "true"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_IMU_BRANCH: main
WOLF_GNSS_BRANCH: main
WOLF_LASER_BRANCH: main
......@@ -369,15 +359,74 @@ deploy_wolf_ros_node_main:
WOLF_ROS_VISION_BRANCH: main
WOLF_ROS_APRILTAG_BRANCH: main
WOLF_ROS_BODYDYNAMICS_BRANCH: main
GNSSUTILS_BRANCH: main
LASERSCANUTILS_BRANCH: main
GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node
branch: main
############ NO DEPLOY wolf_ros_node ############
no_deploy_wolf_ros_node:
stage: deploy_ros
script:
- echo "NOT deploying CI for wolf_ros_node, since DEPLOY_CI_ROS is $DEPLOY_CI_ROS (not true)"
rules:
- if: $DEPLOY_CI_ROS != "true"
############ DEPLOY wolf_ros2_node EXCEPT FOR main ############
deploy_wolf_ros2_node:
stage: deploy_ros2
rules:
- if: $CI_COMMIT_REF_NAME != "main" && $DEPLOY_CI_ROS == "true"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH
WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
WOLF_APRILTAG_BRANCH: $WOLF_APRILTAG_BRANCH
WOLF_BODYDYNAMICS_BRANCH: $WOLF_BODYDYNAMICS_BRANCH
WOLF_ROS2_IMU_BRANCH: $WOLF_ROS2_IMU_BRANCH
WOLF_ROS2_GNSS_BRANCH: $WOLF_ROS2_GNSS_BRANCH
WOLF_ROS2_LASER_BRANCH: $WOLF_ROS2_LASER_BRANCH
WOLF_ROS2_VISION_BRANCH: $WOLF_ROS2_VISION_BRANCH
WOLF_ROS2_APRILTAG_BRANCH: $WOLF_ROS2_APRILTAG_BRANCH
WOLF_ROS2_BODYDYNAMICS_BRANCH: $WOLF_ROS2_BODYDYNAMICS_BRANCH
GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros2/wolf_ros2_node
branch: $WOLF_ROS2_NODE_BRANCH
############ DEPLOY wolf_ros2_node FOR main ############
deploy_wolf_ros2_node_main:
stage: deploy_ros2
rules:
- if: $CI_COMMIT_REF_NAME == "main" && $DEPLOY_CI_ROS == "true"
variables:
WOLF_CORE_BRANCH: $CI_COMMIT_REF_NAME
WOLF_IMU_BRANCH: main
WOLF_GNSS_BRANCH: main
WOLF_LASER_BRANCH: main
WOLF_VISION_BRANCH: main
WOLF_APRILTAG_BRANCH: main
WOLF_BODYDYNAMICS_BRANCH: main
WOLF_ROS2_IMU_BRANCH: main
WOLF_ROS2_GNSS_BRANCH: main
WOLF_ROS2_LASER_BRANCH: main
WOLF_ROS2_VISION_BRANCH: main
WOLF_ROS2_APRILTAG_BRANCH: main
WOLF_ROS2_BODYDYNAMICS_BRANCH: main
GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros2/wolf_ros2_node
branch: main
############ NO DEPLOY wolf_ros2_node ############
no_deploy_wolf_ros2_node:
stage: deploy_ros2
script:
- echo "NOT deploying CI for wolf_ros2_node, since DEPLOY_CI_ROS is $DEPLOY_CI_ROS (not true)"
rules:
- if: $DEPLOY_CI_ROS != "true"
.license_template_ci.yml deleted 100644 → 0
View file @ c7bb5751
.license_header_script:
- cd $CI_PROJECT_DIR
# create 'ci_deps' folder (if not exists)
- mkdir -pv ci_deps
# configure git
- export CI_NEW_BRANCH=ci_processing$RANDOM
- echo creating new temporary branch... $CI_NEW_BRANCH
- git config --global user.email "${CI_EMAIL}"
- git config --global user.name "${CI_USERNAME}"
- git checkout -b $CI_NEW_BRANCH # temporary branch
# download license script
- if [ -f /ci_deps/license_manager.sh ]; then
- echo "File license_manager.sh already exists."
- else
- echo "Downloading file license_manager.sh..."
- wget -P /ci_deps https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/wolf_scripts/license_manager.sh
- fi
# license headers
- export CURRENT_YEAR=$( date +'%Y' )
- echo "current year:" ${CURRENT_YEAR}
- if [ -f license_header_${CURRENT_YEAR}.txt ]; then
# add license headers to new files
- echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
- source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
- else
# remove license headers of all files
- source /ci_deps/license_manager.sh --remove --path=. --config-path=. --exclude=ci_deps
# update license header
- export PREV_YEAR=$(( CURRENT_YEAR-1 ))
- echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
- git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
- sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
# add new license headers to all files
- source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
- fi
# push changes (if any)
- if git commit -a -m "[skip ci] license headers added or modified" ; then
- git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
- git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
- else
- echo "No changes, nothing to commit!"
- fi
\ No newline at end of file
CMakeLists.txt
Edit View file @ 8feb5c7f
......@@ -41,7 +41,7 @@ endif()
if(UNIX)
# GCC is not strict enough by default, so enable most of the warnings.
set(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
"${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-function -Wno-missing-field-initializers")
endif(UNIX)
# Options
......@@ -49,10 +49,6 @@ IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
IF(NOT BUILD_GMOCK)
OPTION(BUILD_GMOCK "Build GMock" OFF)
ENDIF(NOT BUILD_GMOCK)
IF(NOT BUILD_DEMOS)
OPTION(BUILD_DEMOS "Build Demos" ON)
ENDIF(NOT BUILD_DEMOS)
......@@ -89,9 +85,10 @@ if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
endif()
FIND_PACKAGE(yaml-cpp REQUIRED CONFIG)
FIND_PACKAGE(yaml-schema-cpp REQUIRED CONFIG)
# ============ config.h ============
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
set(_WOLF_CODE_DIR ${CMAKE_SOURCE_DIR})
set(_WOLF_LIB_DIR ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR})
# Define the directory where will be the configured config.h
SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
......@@ -109,152 +106,9 @@ ENDIF()
# Configure config.h
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
# ============ HEADERS ============
SET(HDRS_CAPTURE
include/${PROJECT_NAME}/capture/capture_base.h
include/${PROJECT_NAME}/capture/capture_diff_drive.h
include/${PROJECT_NAME}/capture/capture_landmarks_external.h
include/${PROJECT_NAME}/capture/capture_motion.h
include/${PROJECT_NAME}/capture/capture_odom_2d.h
include/${PROJECT_NAME}/capture/capture_odom_3d.h
include/${PROJECT_NAME}/capture/capture_pose.h
include/${PROJECT_NAME}/capture/capture_void.h
)
SET(HDRS_COMMON
include/${PROJECT_NAME}/common/factory.h
include/${PROJECT_NAME}/common/node_base.h
include/${PROJECT_NAME}/common/time_stamp.h
include/${PROJECT_NAME}/common/wolf.h
include/${PROJECT_NAME}/common/params_base.h
)
SET(HDRS_FACTOR
include/${PROJECT_NAME}/factor/factor_analytic.h
include/${PROJECT_NAME}/factor/factor_autodiff.h
include/${PROJECT_NAME}/factor/factor_base.h
include/${PROJECT_NAME}/factor/factor_block_absolute.h
include/${PROJECT_NAME}/factor/factor_block_difference.h
include/${PROJECT_NAME}/factor/factor_diff_drive.h
include/${PROJECT_NAME}/factor/factor_distance_3d.h
include/${PROJECT_NAME}/factor/factor_pose_2d.h
include/${PROJECT_NAME}/factor/factor_pose_3d.h
include/${PROJECT_NAME}/factor/factor_quaternion_absolute.h
include/${PROJECT_NAME}/factor/factor_pose_3d_with_extrinsics.h
include/${PROJECT_NAME}/factor/factor_relative_pose_2d.h
include/${PROJECT_NAME}/factor/factor_relative_pose_2d_with_extrinsics.h
include/${PROJECT_NAME}/factor/factor_relative_pose_3d.h
include/${PROJECT_NAME}/factor/factor_relative_pose_3d_with_extrinsics.h
include/${PROJECT_NAME}/factor/factor_relative_position_2d.h
include/${PROJECT_NAME}/factor/factor_relative_position_2d_with_extrinsics.h
include/${PROJECT_NAME}/factor/factor_relative_position_3d.h
include/${PROJECT_NAME}/factor/factor_relative_position_3d_with_extrinsics.h
include/${PROJECT_NAME}/factor/factor_velocity_local_direction_3d.h
)
SET(HDRS_FEATURE
include/${PROJECT_NAME}/feature/feature_base.h
include/${PROJECT_NAME}/feature/feature_diff_drive.h
include/${PROJECT_NAME}/feature/feature_landmark_external.h
include/${PROJECT_NAME}/feature/feature_match.h
include/${PROJECT_NAME}/feature/feature_motion.h
include/${PROJECT_NAME}/feature/feature_odom_2d.h
include/${PROJECT_NAME}/feature/feature_pose.h
)
SET(HDRS_FRAME
include/${PROJECT_NAME}/frame/frame_base.h
)
SET(HDRS_HARDWARE
include/${PROJECT_NAME}/hardware/hardware_base.h
)
SET(HDRS_LANDMARK
include/${PROJECT_NAME}/landmark/landmark_base.h
include/${PROJECT_NAME}/landmark/landmark_external.h
include/${PROJECT_NAME}/landmark/landmark_match.h
)
SET(HDRS_MATH
include/${PROJECT_NAME}/math/SE2.h
include/${PROJECT_NAME}/math/SE3.h
include/${PROJECT_NAME}/math/rotations.h
include/${PROJECT_NAME}/math/covariance.h
)
SET(HDRS_MAP
include/${PROJECT_NAME}/map/factory_map.h
include/${PROJECT_NAME}/map/map_base.h
)
SET(HDRS_PROBLEM
include/${PROJECT_NAME}/problem/problem.h
)
SET(HDRS_PROCESSOR
include/${PROJECT_NAME}/processor/motion_buffer.h
include/${PROJECT_NAME}/processor/motion_provider.h
include/${PROJECT_NAME}/processor/processor_base.h
include/${PROJECT_NAME}/processor/processor_diff_drive.h
include/${PROJECT_NAME}/processor/processor_fixed_wing_model.h
include/${PROJECT_NAME}/processor/factory_processor.h
include/${PROJECT_NAME}/processor/processor_landmark_external.h
include/${PROJECT_NAME}/processor/processor_loop_closure.h
include/${PROJECT_NAME}/processor/processor_motion.h
include/${PROJECT_NAME}/processor/processor_odom_2d.h
include/${PROJECT_NAME}/processor/processor_odom_3d.h
include/${PROJECT_NAME}/processor/processor_pose.h
include/${PROJECT_NAME}/processor/processor_tracker.h
include/${PROJECT_NAME}/processor/processor_tracker_feature.h
include/${PROJECT_NAME}/processor/processor_tracker_landmark.h
include/${PROJECT_NAME}/processor/track_matrix.h
)
SET(HDRS_SENSOR
include/${PROJECT_NAME}/sensor/sensor_base.h
include/${PROJECT_NAME}/sensor/sensor_diff_drive.h
include/${PROJECT_NAME}/sensor/factory_sensor.h
include/${PROJECT_NAME}/sensor/sensor_motion_model.h
include/${PROJECT_NAME}/sensor/sensor_odom_2d.h
include/${PROJECT_NAME}/sensor/sensor_odom_3d.h
include/${PROJECT_NAME}/sensor/sensor_pose.h
)
SET(HDRS_SOLVER
include/${PROJECT_NAME}/solver/solver_manager.h
include/${PROJECT_NAME}/solver/factory_solver.h
)
SET(HDRS_STATE_BLOCK
include/${PROJECT_NAME}/state_block/factory_state_block.h
include/${PROJECT_NAME}/state_block/has_state_blocks.h
include/${PROJECT_NAME}/state_block/local_parametrization_angle.h
include/${PROJECT_NAME}/state_block/local_parametrization_base.h
include/${PROJECT_NAME}/state_block/local_parametrization_homogeneous.h
include/${PROJECT_NAME}/state_block/local_parametrization_quaternion.h
include/${PROJECT_NAME}/state_block/state_angle.h
include/${PROJECT_NAME}/state_block/state_block.h
include/${PROJECT_NAME}/state_block/state_block_derived.h
include/${PROJECT_NAME}/state_block/state_composite.h
include/${PROJECT_NAME}/state_block/state_homogeneous_3d.h
include/${PROJECT_NAME}/state_block/state_quaternion.h
)
SET(HDRS_TRAJECTORY
include/${PROJECT_NAME}/trajectory/trajectory_base.h
)
SET(HDRS_TREE_MANAGER
include/${PROJECT_NAME}/tree_manager/factory_tree_manager.h
include/${PROJECT_NAME}/tree_manager/tree_manager_base.h
include/${PROJECT_NAME}/tree_manager/tree_manager_sliding_window.h
include/${PROJECT_NAME}/tree_manager/tree_manager_sliding_window_dual_rate.h
)
SET(HDRS_UTILS
include/${PROJECT_NAME}/utils/check_log.h
include/${PROJECT_NAME}/utils/converter.h
include/${PROJECT_NAME}/utils/eigen_assert.h
include/${PROJECT_NAME}/utils/graph_search.h
include/${PROJECT_NAME}/utils/loader.h
include/${PROJECT_NAME}/utils/logging.h
include/${PROJECT_NAME}/utils/params_server.h
include/${PROJECT_NAME}/utils/singleton.h
include/${PROJECT_NAME}/utils/utils_gtest.h
include/${PROJECT_NAME}/utils/converter_utils.h
)
SET(HDRS_YAML
include/${PROJECT_NAME}/yaml/parser_yaml.h
include/${PROJECT_NAME}/yaml/yaml_conversion.h
)
# ============ SOURCES ============
SET(SRCS_CAPTURE
SET(SRCS
# capture
src/capture/capture_base.cpp
src/capture/capture_diff_drive.cpp
src/capture/capture_landmarks_external.cpp
......@@ -263,40 +117,37 @@ SET(SRCS_CAPTURE
src/capture/capture_odom_3d.cpp
src/capture/capture_pose.cpp
src/capture/capture_void.cpp
)
SET(SRCS_COMMON
# common
src/common/node_base.cpp
src/common/node_state_blocks.cpp
src/common/profiling_unit.cpp
src/common/time_stamp.cpp
)
SET(SRCS_FACTOR
# composite
src/composite/prior_composite.cpp
src/composite/vector_composite.cpp
# factor
src/factor/factor_analytic.cpp
src/factor/factor_base.cpp
)
SET(SRCS_FEATURE
# feature
src/feature/feature_base.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_landmark_external.cpp
src/feature/feature_motion.cpp
src/feature/feature_odom_2d.cpp
src/feature/feature_pose.cpp
)
SET(SRCS_FRAME
# frame
src/frame/frame_base.cpp
)
SET(SRCS_HARDWARE
# hardware
src/hardware/hardware_base.cpp
)
SET(SRCS_LANDMARK
# landmark
src/landmark/landmark_base.cpp
src/landmark/landmark_external.cpp
)
SET(SRCS_MAP
src/landmark/landmark.cpp
# map
src/map/map_base.cpp
)
SET(SRCS_PROBLEM
# problem
src/problem/problem.cpp
)
SET(SRCS_PROCESSOR
# processor
src/processor/buffer.cpp
src/processor/motion_buffer.cpp
src/processor/motion_provider.cpp
src/processor/processor_base.cpp
......@@ -312,96 +163,45 @@ SET(SRCS_PROCESSOR
src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_landmark.cpp
src/processor/track_matrix.cpp
)
SET(SRCS_SENSOR
# sensor
src/sensor/sensor_base.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_motion_model.cpp
src/sensor/sensor_odom_2d.cpp
src/sensor/sensor_odom_3d.cpp
src/sensor/sensor_odom.cpp
src/sensor/sensor_pose.cpp
)
SET(SRCS_SOLVER
# solver
src/solver/solver_manager.cpp
)
SET(SRCS_STATE_BLOCK
src/state_block/has_state_blocks.cpp
# state_block
src/state_block/local_parametrization_base.cpp
src/state_block/local_parametrization_homogeneous.cpp
src/state_block/local_parametrization_quaternion.cpp
src/state_block/state_block.cpp
src/state_block/state_block_derived.cpp
src/state_block/state_composite.cpp
)
SET(SRCS_TRAJECTORY
# trajectory
src/trajectory/trajectory_base.cpp
)
SET(SRCS_TREE_MANAGER
# tree_manager
src/tree_manager/tree_manager_sliding_window.cpp
src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
)
SET(SRCS_UTILS
# utils
src/utils/check_log.cpp
src/utils/converter_utils.cpp
src/utils/graph_search.cpp
src/utils/loader.cpp
src/utils/params_server.cpp
)
SET(SRCS_YAML
src/yaml/parser_yaml.cpp
src/yaml/processor_odom_3d_yaml.cpp
src/yaml/sensor_odom_2d_yaml.cpp
src/yaml/sensor_odom_3d_yaml.cpp
src/yaml/sensor_pose_yaml.cpp
src/utils/loader_utils.cpp
src/utils/load_core.cpp
)
# ============ OPTIONALS ============
IF (Ceres_FOUND)
SET(HDRS_CERES_WRAPPER
#ceres_wrapper/qr_manager.h
include/${PROJECT_NAME}/ceres_wrapper/cost_function_wrapper.h
include/${PROJECT_NAME}/ceres_wrapper/create_numeric_diff_cost_function.h
include/${PROJECT_NAME}/ceres_wrapper/local_parametrization_wrapper.h
include/${PROJECT_NAME}/ceres_wrapper/iteration_update_callback.h
include/${PROJECT_NAME}/ceres_wrapper/solver_ceres.h
include/${PROJECT_NAME}/ceres_wrapper/wolf_jet.h
include/${PROJECT_NAME}/solver/solver_manager.h
include/${PROJECT_NAME}/solver_suitesparse/sparse_utils.h
)
SET(SRCS_CERES_WRAPPER
#ceres_wrapper/qr_manager.cpp
src/ceres_wrapper/solver_ceres.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
)
ELSE(Ceres_FOUND)
SET(HDRS_CERES_WRAPPER)
SET(SRCS_CERES_WRAPPER)
SET(SRCS ${SRCS}
src/ceres_wrapper/solver_ceres.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
)
ENDIF(Ceres_FOUND)
# create the shared library
ADD_LIBRARY(${PLUGIN_NAME}
SHARED
${SRCS_CAPTURE}
${SRCS_CERES_WRAPPER}
${SRCS_COMMON}
${SRCS_FACTOR}
${SRCS_FEATURE}
${SRCS_FRAME}
${SRCS_HARDWARE}
${SRCS_LANDMARK}
${SRCS_MAP}
${SRCS_PROBLEM}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
${SRCS_SOLVER}
${SRCS_STATE_BLOCK}
${SRCS_TRAJECTORY}
${SRCS_TREE_MANAGER}
${SRCS_UTILS}
${SRCS_YAML}
)
ADD_LIBRARY(${PLUGIN_NAME} SHARED ${SRCS})
# Set compiler options
# ====================
if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
......@@ -418,6 +218,7 @@ endif()
#=============================================================
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT} dl)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC yaml-cpp)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC yaml-schema-cpp::yaml-schema-cpp)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC Eigen3::Eigen)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC spdlog::spdlog)
IF (Ceres_FOUND)
......@@ -445,7 +246,7 @@ INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
LIBRARY DESTINATION ${LIB_INSTALL_DIR}
ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
INSTALL(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
# Configure the package installation
......@@ -471,50 +272,17 @@ target_include_directories(${PLUGIN_NAME} PUBLIC
)
#install headers
INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
INSTALL(FILES ${HDRS_CERES_WRAPPER}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/ceres_wrapper)
INSTALL(FILES ${HDRS_COMMON}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/common)
INSTALL(FILES ${HDRS_FACTOR}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/factor)
INSTALL(FILES ${HDRS_FEATURE}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/feature)
INSTALL(FILES ${HDRS_FRAME}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/frame)
INSTALL(FILES ${HDRS_HARDWARE}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/hardware)
INSTALL(FILES ${HDRS_LANDMARK}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/landmark)
INSTALL(FILES ${HDRS_MAP}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/map)
INSTALL(FILES ${HDRS_MATH}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/math)
INSTALL(FILES ${HDRS_PROBLEM}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/problem)
INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/processor)
INSTALL(FILES ${HDRS_SENSOR}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_SOLVER}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/solver)
#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
# DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/solver_suitesparse)
INSTALL(FILES ${HDRS_STATE_BLOCK}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/state_block)
INSTALL(FILES ${HDRS_TRAJECTORY}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/trajectory)
INSTALL(FILES ${HDRS_TREE_MANAGER}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/tree_manager)
INSTALL(FILES ${HDRS_UTILS}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/utils)
INSTALL(FILES ${HDRS_YAML}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/yaml)
INSTALL(DIRECTORY include/${PROJECT_NAME}
DESTINATION ${INCLUDE_INSTALL_DIR})
#install config.h
INSTALL(FILES ${WOLF_CONFIG_DIR}/config.h
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/internal)
#install schemas
INSTALL(DIRECTORY schema
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME})
export(PACKAGE ${PLUGIN_NAME})
FIND_PACKAGE(Doxygen MODULE)
......
PluginsInfo.md deleted 100644 → 0
View file @ c7bb5751
# Overview
# Installing
## Installing wolf(core)
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf.git
cd wolf
mkdir build & cd build
cmake ..
make
make install
```
## Installing plugins
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/<plugin name>.git
cd <plugin name>
mkdir build & cd build
cmake ..
make
make install
```
# Using wolf in your applications
## Using wolf core
If you want to use the core, you just need to have it installed and in your CMakeLists.txt put the following line
`find_package(wolf REQUIRED)`.
If wolf is indeed installed, this will define two variables
`${wolf_INCLUDE_DIRS}` which will contain the path to the wolf include directory
and `${wolf_LIBRARIES}` which will contain the path to the wolf library.
## Using wolf plugins
If you also want to use some wolf plugin, you just follow the same procedure, changing the name
`find_package(wolf<plugin name> REQUIRED)`.
If the pluging is indeed installed, this will define two variables
`${wolf<plugin name>_INCLUDE_DIRS}` which will contain the path to the plugin's include directory
and `${wolf<plugin name>_LIBRARIES}` which will contain the path to the plugin's library.
As an example, suppose that we want to use the _laser_ plugin. First, we will clone and install it
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
cd laser
mkdir build && cd build
cmake ..
make
sudo make install
```
Then, in the CMakeLists.txt of the application we are developing we will put the following line
```
find_package(wolflaser REQUIRED)
```
if the plugin has been correctly installed, and thus find_package succeeds, then it will define two variables
- ${wolflaser_INCLUDE_DIRS} which is the path to the includes. It should have the value `/usr/local/include/iri-algorithms/wolf/plugin_laser;/usr/local/include/iri-algorithms`
- ${wolfvision_LIBRARIES} which is the path to the required libraries. It should have the value `/usr/local/lib/iri-algorithms/libwolflaser.so;/usr/local/lib/iri-algorithms/liblaser_scan_utils.so`
# Creating your plugin
We provide a template to create your own plugin.
You can either clone it and restart the git history
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/Template.git
cd Template
rm -rf .git
git init
```
or directly fork*(?)* the repository.
# Contributing
## Contributing your plugin to wolf
Will we have some kind of repository keeping track of wolf plugins?
## Contributing to existing plugins
???
## Contributing to wolf core
Steps:
* Let us know what is it that you want to contribute. It is very important that you communicate with us. Obviously noone is stopping you
from directly forking the repository, but you run the risk of having your pull request declined if we haven't discussed your contribution beforehand.
* If it is something we are already working on we can maybe integrate you into the working group.
* Otherwise, fork the repository and pull request when your contribution is ready.
\ No newline at end of file
ROS-based code style eclipse indented 4sp.xml deleted 100644 → 0
View file @ c7bb5751
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<profiles version="1">
<profile kind="CodeFormatterProfile" name="ROS Formatting indented private" version="1">
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_in_empty_block" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.lineSplit" value="120"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_member_access" value="0"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_base_types" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_switch" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list" value="2"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_if" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_exception_specification" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_base_types" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_exception_specification" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_arguments" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_block" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.use_tabs_only_for_leading_indentations" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_case" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment" value="1"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_array_initializer" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_expressions_in_array_initializer" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_declarator_list" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_bracket" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_prefix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.tabulation.size" value="4"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_else_in_if_statement" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_enumerator_list" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_switch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_declarator_list" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_empty_lines" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_cases" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.keep_empty_array_initializer_on_one_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.put_empty_statement_on_new_line" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_switch" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_cast" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_braces_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_method_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_while" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_question_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_arguments" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_base_clause" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_unary_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.join_wrapped_lines" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_declarator_list" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.comment.never_indent_line_comments_on_first_column" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_brackets" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_bracket" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_parameters_in_method_declaration" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_closing_brace_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.number_of_empty_lines_to_preserve" value="1"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_invocation" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_brace_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.comment.preserve_white_space_between_code_and_line_comments" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_type_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_assignment_operator" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_expression_list" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.continuation_indentation" value="2"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_expression_list" value="0"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_default" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_binary_operator" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_conditional_expression" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_invocation" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_if" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.format_guardian_clause_on_one_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.indent_access_specifier_extra_spaces" value="0"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_cast" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_access_specifier_compare_to_type_header" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_type_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer" value="2"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_labeled_statement" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_parameters" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_semicolon_in_for" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_invocation" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_compact_if" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_assignment_operator" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_brace_in_block" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_array_initializer" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_at_end_of_file_if_missing" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_assignment" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_parameters" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_expression_list" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_question_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_exception_specification" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_base_clause_in_type_declaration" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_identifier_in_function_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_throws" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_exception_specification" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_unary_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_switch" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_body" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_binary_expression" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_block" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration" value="18"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_invocation" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_catch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_paren_in_cast" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.tabulation.char" value="space"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_colon_in_constructor_initializer_list" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block_in_case" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.compact_else_if" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_template_declaration" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_catch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_switch" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_overloaded_left_shift_chain" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_if" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_imple_if_on_one_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.indentation.size" value="4"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_namespace_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_enum_declarations" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_catch" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_namespace_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_postfix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_bracket" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_while_in_do_statement" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_for" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_parameters" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_arguments" value="do not insert"/>
</profile>
</profiles>
ROS-based wolf code style QT indented 4sp.xml deleted 100644 → 0
View file @ c7bb5751
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorCodeStyle>
<!-- Written by QtCreator 3.0.1, 2016-02-22T12:02:02. -->
<qtcreator>
<data>
<variable>CodeStyleData</variable>
<valuemap type="QVariantMap">
<value type="bool" key="AlignAssignments">false</value>
<value type="bool" key="AutoSpacesForTabs">false</value>
<value type="bool" key="BindStarToIdentifier">false</value>
<value type="bool" key="BindStarToLeftSpecifier">false</value>
<value type="bool" key="BindStarToRightSpecifier">false</value>
<value type="bool" key="BindStarToTypeName">true</value>
<value type="bool" key="ExtraPaddingForConditionsIfConfusingAlign">true</value>
<value type="bool" key="IndentAccessSpecifiers">true</value>
<value type="bool" key="IndentBlockBody">true</value>
<value type="bool" key="IndentBlockBraces">false</value>
<value type="bool" key="IndentBlocksRelativeToSwitchLabels">true</value>
<value type="bool" key="IndentClassBraces">false</value>
<value type="bool" key="IndentControlFlowRelativeToSwitchLabels">true</value>
<value type="bool" key="IndentDeclarationsRelativeToAccessSpecifiers">true</value>
<value type="bool" key="IndentEnumBraces">false</value>
<value type="bool" key="IndentFunctionBody">true</value>
<value type="bool" key="IndentFunctionBraces">false</value>
<value type="bool" key="IndentNamespaceBody">false</value>
<value type="bool" key="IndentNamespaceBraces">false</value>
<value type="int" key="IndentSize">4</value>
<value type="bool" key="IndentStatementsRelativeToSwitchLabels">true</value>
<value type="bool" key="IndentSwitchLabels">true</value>
<value type="int" key="PaddingMode">2</value>
<value type="bool" key="SpacesForTabs">true</value>
<value type="int" key="TabSize">4</value>
</valuemap>
</data>
<data>
<variable>DisplayName</variable>
<value type="QString">ROS wolf</value>
</data>
</qtcreator>
cmake_modules/wolfcoreConfig.cmake.in
Edit View file @ 8feb5c7f
......@@ -8,6 +8,7 @@ FIND_DEPENDENCY(Threads REQUIRED)
FIND_DEPENDENCY(Ceres REQUIRED)
FIND_DEPENDENCY(Eigen3 3.3 REQUIRED)
FIND_DEPENDENCY(yaml-cpp REQUIRED)
FIND_DEPENDENCY(yaml-schema-cpp REQUIRED)
FIND_DEPENDENCY(spdlog REQUIRED)
include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
......
codetemplates eclipse.xml deleted 100644 → 0
View file @ c7bb5751
<?xml version="1.0" encoding="UTF-8" standalone="no"?><templates><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.constructorcomment_context" deleted="false" description="Comment for created constructors" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.constructorcomment" name="constructorcomment">/*
*
*/</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.destructorcomment_context" deleted="false" description="Comment for created destructors" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.destructorcomment" name="destructorcomment">/*
*
*/</template><template autoinsert="false" context="org.eclipse.cdt.ui.text.codetemplates.filecomment_context" deleted="false" description="Comment for created C/C++ files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.filecomment" name="filecomment">/**
* \file ${file_name}
*
* Created on: ${date}
* \author: ${user}
*/
</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.typecomment_context" deleted="false" description="Comment for created classes" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.typecomment" name="typecomment">/*
*
*/</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.fieldcomment_context" deleted="false" description="Comment for fields" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.fieldcomment" name="fieldcomment">/*
*
*/</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.methodcomment_context" deleted="false" description="Comment for methods" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.methodcomment" name="methodcomment">/*
*
*/</template><template autoinsert="false" context="org.eclipse.cdt.core.cxxSource.contenttype_context" deleted="false" description="Default template for newly created C++ source files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cppsourcefile" name="Default C++ source template">${filecomment}
${includes}
${namespace_begin}
${declarations}
${namespace_end}</template><template autoinsert="false" context="org.eclipse.cdt.core.cxxSource.contenttype_context" deleted="false" description="Default template for newly created C++ test files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cpptestfile" name="Default C++ test template">${filecomment}
#include "core/utils/utils_gtest.h"
${includes}
${namespace_begin}
${declarations}
TEST(TestGroup, DummyTestExample)
{
// ${todo}: Automatically generated TEST stub
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&amp;argc, argv);
return RUN_ALL_TESTS();
}
${namespace_end}</template><template autoinsert="true" context="org.eclipse.cdt.core.cxxHeader.contenttype_context" deleted="false" description="Default template for newly created C++ header files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cppheaderfile" name="Default C++ header template">${filecomment}
#ifndef ${include_guard_symbol}
#define ${include_guard_symbol}
${includes}
${namespace_begin}
${declarations}
${namespace_end}
#endif /* ${include_guard_symbol} */</template><template autoinsert="true" context="org.eclipse.cdt.core.cSource.contenttype_context" deleted="false" description="Default template for newly created C source files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.csourcefile" name="Default C source template">${filecomment}
${includes}
${declarations}</template><template autoinsert="true" context="org.eclipse.cdt.core.cHeader.contenttype_context" deleted="false" description="Default template for newly created C header files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cheaderfile" name="Default C header template">${filecomment}
#ifndef ${include_guard_symbol}
#define ${include_guard_symbol}
${includes}
${declarations}
#endif /* ${include_guard_symbol} */</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.namespace_context" deleted="false" description="Beginning of namespace declaration" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.namespace_begin" name="namespace_begin">namespace ${namespace_name} {</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.namespace_context" deleted="false" description="End of namespace declaration" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.namespace_end" name="namespace_end">} /* namespace ${namespace_name} */</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.class_context" deleted="false" description="Code in created class definitions" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.class_body" name="class_body">${declarations}</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.methodbody_context" deleted="false" description="Code in created method stubs" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.methodbody" name="methodbody"> // ${todo} Auto-generated method stub
${body_statement}</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.constructorbody_context" deleted="false" description="Code in created constructor stubs" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.constructorbody" name="constructorbody"> // ${todo} Auto-generated constructor stub
${body_statement}</template><template autoinsert="true" context="org.eclipse.cdt.ui.text.codetemplates.destructorbody_context" deleted="false" description="Code in created destructor stubs" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.destructorbody" name="destructorbody"> ${body_statement}
// ${todo} Auto-generated destructor stub</template><template autoinsert="true" context="org.eclipse.cdt.core.asmSource.contenttype_context" deleted="false" description="Default template for newly created assembly files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.asmsourcefile" name="Default assembly template">${filecomment}
</template><template autoinsert="true" context="org.eclipse.core.runtime.text.contenttype_context" deleted="false" description="Default template for newly created text files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.textfile" name="Default text file template">${file_name}
Created on: ${date}
Author: ${user}
</template></templates>
\ No newline at end of file
demos/CMakeLists.txt
Edit View file @ 8feb5c7f
#Add hello_wolf demo
add_subdirectory(hello_wolf)
add_subdirectory(solver)
demos/demo_analytic_autodiff_factor.cpp deleted 100644 → 0
View file @ c7bb5751
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
// Testing creating wolf tree from imported .graph file
//C includes for sleep, time and main args
#include "unistd.h"
//std includes
#include <iostream>
#include <memory>
#include <random>
#include <cmath>
#include <queue>
#include "../include/core/ceres_wrapper/solver_ceres.h"
//Wolf includes
#include "wolf_manager.h"
#include "core/capture/capture_void.h"
// EIGEN
//#include <Eigen/CholmodSupport>
namespace wolf {
// inserts the sparse matrix 'ins' into the sparse matrix 'original' in the place given by 'row' and 'col' integers
void insertSparseBlock(const Eigen::SparseMatrix<double>& ins, Eigen::SparseMatrix<double>& original, const unsigned int& row, const unsigned int& col)
{
for (int k=0; k<ins.outerSize(); ++k)
for (Eigen::SparseMatrix<double>::InnerIterator iti(ins,k); iti; ++iti)
original.coeffRef(iti.row() + row, iti.col() + col) = iti.value();
original.makeCompressed();
}
int main(int argc, char** argv)
{
using namespace wolf;
//Welcome message
std::cout << std::endl << " ========= WOLF IMPORTED .graph TEST ===========" << std::endl << std::endl;
if (argc != 3 || atoi(argv[2]) < 0 )
{
std::cout << "Please call me with: [./test_wolf_imported_graph FILE_PATH MAX_VERTICES], where:" << std::endl;
std::cout << " FILE_PATH is the .graph file path" << std::endl;
std::cout << " MAX_VERTICES max edges to be loaded (0: ALL)" << std::endl;
std::cout << "EXIT due to bad user input" << std::endl << std::endl;
return -1;
}
// auxiliar variables
std::string file_path_ = argv[1];
unsigned int MAX_VERTEX = atoi(argv[2]);
if (MAX_VERTEX == 0) MAX_VERTEX = 1e6;
std::ifstream offLineFile_;
ceres::Solver::Summary summary_autodiff, summary_analytic;
// loading variables
std::map<unsigned int, FrameBasePtr> index_2_frame_ptr_autodiff;
std::map<unsigned int, FrameBasePtr> index_2_frame_ptr_analytic;
// Wolf problem
ProblemPtr wolf_problem_autodiff = new Problem(FRM_PO_2d);
ProblemPtr wolf_problem_analytic = new Problem(FRM_PO_2d);
SensorBasePtr sensor = new SensorBase("ODOM 2d", std::make_shared<StatePoint2d>(Eigen::VectorXd::Zero(2)), std::make_shared<StateAngle>(0), std::make_shared<StateParams2>(Eigen::VectorXd::Zero(2)), 2);
// Ceres wrapper
SolverCeres* ceres_manager_autodiff = new SolverCeres(wolf_problem_autodiff, ceres_options);
SolverCeres* ceres_manager_analytic = new SolverCeres(wolf_problem_analytic, ceres_options);
ceres_manager_autodiff.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_manager_autodiff.getSolverOptions().max_line_search_step_contraction = 1e-3;
ceres_manager_autodiff.getSolverOptions().max_num_iterations = 1e4;
ceres_manager_analytic.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_manager_analytic.getSolverOptions().max_line_search_step_contraction = 1e-3;
ceres_manager_analytic.getSolverOptions().max_num_iterations = 1e4;
// load graph from .txt
offLineFile_.open(file_path_.c_str(), std::ifstream::in);
if (offLineFile_.is_open())
{
std::string buffer;
unsigned int j = 0;
// Line by line
while (std::getline(offLineFile_, buffer))
{
//std::cout << "new line:" << buffer << std::endl;
std::string bNum;
unsigned int i = 0;
// VERTEX
if (buffer.at(0) == 'V')
{
//skip rest of VERTEX word
while (buffer.at(i) != ' ') i++;
//skip white spaces
while (buffer.at(i) == ' ') i++;
//vertex index
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
unsigned int vertex_index = atoi(bNum.c_str());
bNum.clear();
if (vertex_index <= MAX_VERTEX+1)
{
//skip white spaces
while (buffer.at(i) == ' ') i++;
// vertex pose
Eigen::Vector3d vertex_pose;
// x
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
vertex_pose(0) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// y
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
vertex_pose(1) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// theta
while (i < buffer.size() && buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
vertex_pose(2) = atof(bNum.c_str());
bNum.clear();
// add frame to problem
FrameBasePtr vertex_frame_ptr_autodiff = new FrameBase(TimeStamp(0), std::make_shared<StatePoint2d>(vertex_pose.head(2)), std::make_shared<StateAngle>(vertex_pose.tail(1)));
FrameBasePtr vertex_frame_ptr_analytic = new FrameBase(TimeStamp(0), std::make_shared<StatePoint2d>(vertex_pose.head(2)), std::make_shared<StateAngle>(vertex_pose.tail(1)));
wolf_problem_autodiff->getTrajectory()->addFrame(vertex_frame_ptr_autodiff);
wolf_problem_analytic->getTrajectory()->addFrame(vertex_frame_ptr_analytic);
// store
index_2_frame_ptr_autodiff[vertex_index] = vertex_frame_ptr_autodiff;
index_2_frame_ptr_analytic[vertex_index] = vertex_frame_ptr_analytic;
//std::cout << "Added vertex! index: " << vertex_index << " id: " << vertex_frame_ptr_analytic->id() << std::endl << "pose: " << vertex_pose.transpose() << std::endl;
}
}
// EDGE
else if (buffer.at(0) == 'E')
{
j++;
//skip rest of EDGE word
while (buffer.at(i) != ' ') i++;
//skip white spaces
while (buffer.at(i) == ' ') i++;
//from
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
unsigned int edge_old = atoi(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
//to index
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
unsigned int edge_new = atoi(bNum.c_str());
bNum.clear();
if (edge_new <= MAX_VERTEX+1 && edge_old <= MAX_VERTEX+1 )
{
//skip white spaces
while (buffer.at(i) == ' ') i++;
// edge vector
Eigen::Vector3d edge_vector;
// x
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_vector(0) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// y
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_vector(1) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// theta
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_vector(2) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// edge covariance
Eigen::Matrix3d edge_information;
// xx
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(0,0) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// xy
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(0,1) = atof(bNum.c_str());
edge_information(1,0) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// yy
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(1,1) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// thetatheta
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(2,2) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// xtheta
while (buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(0,2) = atof(bNum.c_str());
edge_information(2,0) = atof(bNum.c_str());
bNum.clear();
//skip white spaces
while (buffer.at(i) == ' ') i++;
// ytheta
while (i < buffer.size() && buffer.at(i) != ' ')
bNum.push_back(buffer.at(i++));
edge_information(1,2) = atof(bNum.c_str());
edge_information(2,1) = atof(bNum.c_str());
bNum.clear();
// add capture, feature and factor to problem
FeatureBasePtr feature_ptr_autodiff = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_autodiff = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_autodiff.find(edge_old) != index_2_frame_ptr_autodiff.end() && "edge from vertex not added!");
FrameBasePtr frame_old_ptr_autodiff = index_2_frame_ptr_autodiff[edge_old];
assert(index_2_frame_ptr_autodiff.find(edge_new) != index_2_frame_ptr_autodiff.end() && "edge to vertex not added!");
FrameBasePtr frame_new_ptr_autodiff = index_2_frame_ptr_autodiff[edge_new];
frame_new_ptr_autodiff->addCapture(capture_ptr_autodiff);
capture_ptr_autodiff->addFeature(feature_ptr_autodiff);
FactorOdom2d* factor_ptr_autodiff = new FactorOdom2d(feature_ptr_autodiff, frame_old_ptr_autodiff);
feature_ptr_autodiff->addFactor(factor_ptr_autodiff);
//std::cout << "Added autodiff edge! " << factor_ptr_autodiff->id() << " from vertex " << factor_ptr_autodiff->getCapture()->getFrame()->id() << " to " << factor_ptr_autodiff->getFrameOther()->id() << std::endl;
// add capture, feature and factor to problem
FeatureBasePtr feature_ptr_analytic = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_analytic = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_analytic.find(edge_old) != index_2_frame_ptr_analytic.end() && "edge from vertex not added!");
FrameBasePtr frame_old_ptr_analytic = index_2_frame_ptr_analytic[edge_old];
assert(index_2_frame_ptr_analytic.find(edge_new) != index_2_frame_ptr_analytic.end() && "edge to vertex not added!");
FrameBasePtr frame_new_ptr_analytic = index_2_frame_ptr_analytic[edge_new];
frame_new_ptr_analytic->addCapture(capture_ptr_analytic);
capture_ptr_analytic->addFeature(feature_ptr_analytic);
FactorOdom2dAnalytic* factor_ptr_analytic = new FactorOdom2dAnalytic(feature_ptr_analytic, frame_old_ptr_analytic);
feature_ptr_analytic->addFactor(factor_ptr_analytic);
//std::cout << "Added analytic edge! " << factor_ptr_analytic->id() << " from vertex " << factor_ptr_analytic->getCapture()->getFrame()->id() << " to " << factor_ptr_analytic->getFrameOther()->id() << std::endl;
//std::cout << "vector " << factor_ptr_analytic->getMeasurement().transpose() << std::endl;
//std::cout << "information " << std::endl << edge_information << std::endl;
//std::cout << "covariance " << std::endl << factor_ptr_analytic->getMeasurementCovariance() << std::endl;
}
}
else
assert("unknown line");
}
printf("\nGraph loaded!\n");
}
else
printf("\nError opening file\n");
// PRIOR
FrameBasePtr first_frame_autodiff = wolf_problem_autodiff->getTrajectory()->getFirstFrame();
FrameBasePtr first_frame_analytic = wolf_problem_analytic->getTrajectory()->getFirstFrame();
CaptureFix* initial_covariance_autodiff = new CaptureFix(TimeStamp(0), new SensorBase("ABSOLUTE POSE", nullptr, nullptr, nullptr, 0), first_frame_autodiff->getState(), Eigen::Matrix3d::Identity() * 0.01);
CaptureFix* initial_covariance_analytic = new CaptureFix(TimeStamp(0), new SensorBase("ABSOLUTE POSE", nullptr, nullptr, nullptr, 0), first_frame_analytic->getState(), Eigen::Matrix3d::Identity() * 0.01);
first_frame_autodiff->addCapture(initial_covariance_autodiff);
first_frame_analytic->addCapture(initial_covariance_analytic);
initial_covariance_autodiff->emplaceFeatureAndFactor();
initial_covariance_analytic->emplaceFeatureAndFactor();
// SOLVING PROBLEMS
std::cout << "solving..." << std::endl;
std::cout << "ANALYTIC -----------------------------------" << std::endl;
summary_analytic = ceres_manager_analytic->solve();
std::cout << summary_analytic.FullReport() << std::endl;
std::cout << "AUTODIFF -----------------------------------" << std::endl;
summary_autodiff = ceres_manager_autodiff->solve();
std::cout << summary_autodiff.FullReport() << std::endl;
// COMPUTE COVARIANCES
std::cout << "computing covariances..." << std::endl;
std::cout << "ANALYTIC -----------------------------------" << std::endl;
clock_t t1 = clock();
ceres_manager_analytic->computeCovariances(ALL);//ALL_MARGINALS
std::cout << "Time: " << ((double) clock() - t1) / CLOCKS_PER_SEC << "s" << std::endl;
std::cout << "AUTODIFF -----------------------------------" << std::endl;
t1 = clock();
ceres_manager_autodiff->computeCovariances(ALL);//ALL_MARGINALS
std::cout << "Time: " << ((double) clock() - t1) / CLOCKS_PER_SEC << "s" << std::endl;
delete wolf_problem_autodiff; //not necessary to delete anything more, wolf will do it!
std::cout << "wolf_problem_ deleted!" << std::endl;
delete ceres_manager_autodiff;
delete ceres_manager_analytic;
std::cout << "ceres_manager deleted!" << std::endl;
//End message
std::cout << " =========================== END ===============================" << std::endl << std::endl;
//exit
return 0;
}
demos/demo_wolf_imported_graph.cpp deleted 100644 → 0
View file @ c7bb5751
This diff is collapsed.
demos/hello_wolf/CMakeLists.txt
Edit View file @ 8feb5c7f
......@@ -7,15 +7,13 @@ SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
${CMAKE_CURRENT_SOURCE_DIR}/factor_bearing.h
${CMAKE_CURRENT_SOURCE_DIR}/factor_range_bearing.h
${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.h
${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2d.h
${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.h
${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.h
)
SET(SRCS_HELLOWOLF
SET(SRCS_HELLOWOLF
${CMAKE_CURRENT_SOURCE_DIR}/capture_range_bearing.cpp
${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.cpp
${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2d.cpp
${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.cpp
${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.cpp
)
......
demos/hello_wolf/capture_range_bearing.cpp
Edit View file @ 8feb5c7f
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// WOLF - Copyright (C) 2020-2025
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
//--------LICENSE_END--------
/*
* CaptureRangeBearing2d.cpp
*
* Created on: Nov 30, 2017
* Author: jsola
*/
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include "capture_range_bearing.h"
namespace wolf
{
CaptureRangeBearing::CaptureRangeBearing(const TimeStamp& _ts, const SensorBasePtr& _scanner, const Eigen::VectorXi& _ids, const Eigen::VectorXd& _ranges, const Eigen::VectorXd& _bearings) :
CaptureBase("CaptureRangeBearing", _ts, _scanner),
ids_(_ids),
ranges_(_ranges),
bearings_(_bearings)
CaptureRangeBearing::CaptureRangeBearing(const TimeStamp& _ts,
const SensorBasePtr& _scanner,
const Eigen::VectorXi& _ids,
const Eigen::VectorXd& _ranges,
const Eigen::VectorXd& _bearings)
: CaptureBase("CaptureRangeBearing", _ts, _scanner), ids_(_ids), ranges_(_ranges), bearings_(_bearings)
{
//
}
......
demos/hello_wolf/capture_range_bearing.h
Edit View file @ 8feb5c7f
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// WOLF - Copyright (C) 2020-2025
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
//--------LICENSE_END--------
/*
* capture_range_bearing.h
*
* Created on: Nov 30, 2017
* Author: jsola
*/
#ifndef HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
#define HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
#include "core/capture/capture_base.h"
namespace wolf
{
WOLF_PTR_TYPEDEFS(CaptureRangeBearing)
using namespace Eigen;
class CaptureRangeBearing : public CaptureBase
{
public:
CaptureRangeBearing(const TimeStamp& _ts, const SensorBasePtr& _scanner, const Eigen::VectorXi& _ids, const Eigen::VectorXd& _ranges, const Eigen::VectorXd& _bearings);
~CaptureRangeBearing() override;
const VectorXi& getIds () const;
const int& getId (int _i) const;
const Eigen::VectorXd& getRanges () const;
const Eigen::VectorXd& getBearings () const;
const double& getRange (int _i) const;
const double& getBearing (int _i) const;
Eigen::Vector2d getRangeBearing (int _i) const;
Eigen::Matrix<double, Dynamic, 2> getRangeBearing() const;
private:
VectorXi ids_; // identifiers
VectorXd ranges_; // ranges
VectorXd bearings_; // bearings
public:
CaptureRangeBearing(const TimeStamp& _ts,
const SensorBasePtr& _scanner,
const Eigen::VectorXi& _ids,
const Eigen::VectorXd& _ranges,
const Eigen::VectorXd& _bearings);
~CaptureRangeBearing() override;
const VectorXi& getIds() const;
const int& getId(int _i) const;
const Eigen::VectorXd& getRanges() const;
const Eigen::VectorXd& getBearings() const;
const double& getRange(int _i) const;
const double& getBearing(int _i) const;
Eigen::Vector2d getRangeBearing(int _i) const;
Eigen::Matrix<double, Dynamic, 2> getRangeBearing() const;
private:
VectorXi ids_; // identifiers
VectorXd ranges_; // ranges
VectorXd bearings_; // bearings
};
inline const Eigen::VectorXi& CaptureRangeBearing::getIds() const
......@@ -89,9 +81,9 @@ inline const double& CaptureRangeBearing::getBearing(int _i) const
return bearings_(_i);
}
inline Eigen::Matrix<double,Dynamic,2> CaptureRangeBearing::getRangeBearing() const
inline Eigen::Matrix<double, Dynamic, 2> CaptureRangeBearing::getRangeBearing() const
{
return (Matrix<double,Dynamic,2>() << ranges_, bearings_).finished();
return (Matrix<double, Dynamic, 2>() << ranges_, bearings_).finished();
}
inline Eigen::Vector2d CaptureRangeBearing::getRangeBearing(int _i) const
......@@ -100,5 +92,3 @@ inline Eigen::Vector2d CaptureRangeBearing::getRangeBearing(int _i) const
}
} /* namespace wolf */
#endif /* HELLO_WOLF_CAPTURE_RANGE_BEARING_H_ */
demos/hello_wolf/factor_bearing.h
Edit View file @ 8feb5c7f
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// WOLF - Copyright (C) 2020-2025
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
//--------LICENSE_END--------
/*
* FactorBearing.h
*
* Created on: Nov 30, 2017
* Author: jsola
*/
#ifndef HELLO_WOLF_FACTOR_BEARING_H_
#define HELLO_WOLF_FACTOR_BEARING_H_
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
#include "core/factor/factor_autodiff.h"
namespace wolf
{
using namespace Eigen;
class FactorBearing : public FactorAutodiff<FactorBearing, 1, 2, 1, 2, 1, 2>
{
public:
FactorBearing(const FeatureBasePtr& _feature_ptr,
const LandmarkBasePtr& _landmark_other_ptr,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function, FactorStatus _status) :
FactorAutodiff<FactorBearing, 1, 2, 1, 2, 1, 2>("BEARING",
TOP_LMK,
_feature_ptr,
nullptr,
nullptr,
nullptr,
_landmark_other_ptr,
_processor_ptr,
_apply_loss_function,
_status,
_feature_ptr->getCapture()->getFrame()->getP(),
_feature_ptr->getCapture()->getFrame()->getO(),
_feature_ptr->getCapture()->getSensor()->getP(),
_feature_ptr->getCapture()->getSensor()->getO(),
_landmark_other_ptr->getP())
{
//
}
virtual ~FactorBearing()
{
//
}
template<typename T>
bool operator ()(const T* const _p_w_r,
const T* const _o_w_r,
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk,
T* _res) const;
public:
FactorBearing(const FeatureBasePtr& _feature_ptr,
const LandmarkBasePtr& _landmark_other_ptr,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status)
: FactorAutodiff<FactorBearing, 1, 2, 1, 2, 1, 2>("BEARING",
TOP_LMK,
_feature_ptr,
nullptr,
nullptr,
nullptr,
_landmark_other_ptr,
_processor_ptr,
_apply_loss_function,
_status,
_feature_ptr->getCapture()->getFrame()->getP(),
_feature_ptr->getCapture()->getFrame()->getO(),
_feature_ptr->getCapture()->getSensor()->getP(),
_feature_ptr->getCapture()->getSensor()->getO(),
_landmark_other_ptr->getP())
{
//
}
virtual ~FactorBearing()
{
//
}
template <typename T>
bool operator()(const T* const _p_w_r,
const T* const _o_w_r,
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk,
T* _res) const;
};
} /* namespace wolf */
......@@ -83,46 +71,44 @@ class FactorBearing : public FactorAutodiff<FactorBearing, 1, 2, 1, 2, 1, 2>
namespace wolf
{
template<typename T>
inline bool FactorBearing::operator ()( const T* const _p_w_r,
const T* const _o_w_r,
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk,
T* _res) const
template <typename T>
inline bool FactorBearing::operator()(const T* const _p_w_r,
const T* const _o_w_r,
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk,
T* _res) const
{
// 1. produce a transformation matrix to transform from robot frame to world frame
Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot frame = robot-to-world transform
Transform<T, 2, Isometry> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Robot frame = robot-to-world transform
Transform<T, 2, Isometry> H_w_r =
Translation<T, 2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r); // Robot frame = robot-to-world transform
Transform<T, 2, Isometry> H_r_s =
Translation<T, 2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s); // Robot frame = robot-to-world transform
// Map input pointers into meaningful Eigen elements
Map<const Matrix<T, 2, 1>> point_w(_lmk);
Map<const Matrix<T, 1, 1>> res(_res);
Map<const Matrix<T, 2, 1>> point_w(_lmk);
Map<const Matrix<T, 1, 1>> res(_res);
// 2. Transform world point to sensor-referenced point
Matrix<T, 2, 1> point_s = (H_w_r * H_r_s).inverse() * point_w;
// 3. Get the expected bearing of the point
T bearing = atan2(point_s(1), point_s(0));
T bearing = atan2(point_s(1), point_s(0));
// 4. Get the measured range-and-bearing to the point
Matrix<T, 2, 1> range_bearing = getMeasurement().cast<T>();
// 5. Get the bearing error by comparing against the bearing measurement
T er = range_bearing(1) - bearing;
T er = range_bearing(1) - bearing;
if (er < T(-M_PI))
er += T(2*M_PI);
else if (er > T(-M_PI))
er -= T(2*M_PI);
er += T(2 * M_PI);
else if (er > T(-M_PI))
er -= T(2 * M_PI);
// 6. Compute the residual by scaling according to the standard deviation of the bearing part
*_res = er * getMeasurementSquareRootInformationUpper()(1,1);
*_res = er * getMeasurementSquareRootInformationUpper()(1, 1);
return true;
}
} // namespace wolf
#endif /* HELLO_WOLF_FACTOR_BEARING_H_ */
} // namespace wolf
demos/hello_wolf/factor_range_bearing.h
Edit View file @ 8feb5c7f
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// WOLF - Copyright (C) 2020-2025
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
//--------LICENSE_END--------
/**
* \file factor_range_bearing.h
*
* Created on: Dec 1, 2017
* \author: jsola
*/
#ifndef HELLO_WOLF_FACTOR_RANGE_BEARING_H_
#define HELLO_WOLF_FACTOR_RANGE_BEARING_H_
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
#include "core/factor/factor_autodiff.h"
namespace wolf
{
WOLF_PTR_TYPEDEFS(FactorRangeBearing);
using namespace Eigen;
class FactorRangeBearing : public FactorAutodiff<FactorRangeBearing, 2, 2, 1, 2, 1, 2>
class FactorRangeBearing
: public FactorAutodiff<FactorRangeBearing, 2, 2, 1, 2, 1, 2> // sizes of: residual, rob pos, rob ori, sen pos,
// sen ori, lmk pos
{
public:
FactorRangeBearing(const CaptureBasePtr& _capture_own, // own capture's pointer
const FeatureBasePtr& _feature_ptr,
const LandmarkBasePtr& _landmark_other_ptr, // other landmark's pointer
const ProcessorBasePtr& _processor_ptr, // processor having created this
bool _apply_loss_function, // apply loss function to residual?
FactorStatus _status) : // active factor?
FactorAutodiff<FactorRangeBearing, 2, 2, 1, 2, 1, 2>( // sizes of: residual, rob pos, rob ori, sen pos, sen ori, lmk pos
"RANGE BEARING", // factor type enum (see wolf.h)
TOP_LMK, // factor topology (see factor_base.h)
_feature_ptr,
nullptr, // other frame's pointer
nullptr, // other capture's pointer
nullptr, // other feature's pointer
_landmark_other_ptr, // other landmark's pointer
_processor_ptr, // processor having created this
_apply_loss_function, // apply loss function to residual?
_status, // active factor?
_capture_own->getFrame()->getP(), // robot position
_capture_own->getFrame()->getO(), // robot orientation state block
_capture_own->getSensor()->getP(), // sensor position state block
_capture_own->getSensor()->getO(), // sensor orientation state block
_landmark_other_ptr->getP()) // landmark position state block
{
//
}
~FactorRangeBearing() override
{
//
}
template<typename T>
bool operator ()(const T* const _p_w_r, // robot position
const T* const _o_w_r, // robot orientation
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk, // landmark position
T* _res) const; // residuals
public:
FactorRangeBearing(const CaptureBasePtr& _capture_own, // own capture's pointer
const FeatureBasePtr& _feature_ptr,
const LandmarkBasePtr& _landmark_other_ptr, // other landmark's pointer
const ProcessorBasePtr& _processor_ptr, // processor having created this
bool _apply_loss_function, // apply loss function to residual?
FactorStatus _status) // active factor?
: FactorAutodiff("RANGE BEARING", // factor type enum (see wolf.h)
TOP_LMK, // factor topology (see factor_base.h)
_feature_ptr->getMeasurement(),
_feature_ptr->getMeasurementSquareRootInformationUpper(),
{_capture_own->getFrame(), _capture_own->getSensor(), _landmark_other_ptr}, // nodes factored
_processor_ptr, // processor having created this
{_capture_own->getFrame()->getP(), // robot position
_capture_own->getFrame()->getO(), // robot orientation state block
_capture_own->getSensor()->getP(), // sensor position state block
_capture_own->getSensor()->getO(), // sensor orientation state block
_landmark_other_ptr->getP()}, // landmark position state block
_apply_loss_function, // apply loss function to residual?
_status) // active factor?
{
//
}
~FactorRangeBearing() override
{
//
}
template <typename T>
bool operator()(const T* const _p_w_r, // robot position
const T* const _o_w_r, // robot orientation
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk, // landmark position
T* _res) const; // residuals
};
} /* namespace wolf */
......@@ -88,14 +74,13 @@ class FactorRangeBearing : public FactorAutodiff<FactorRangeBearing, 2, 2, 1, 2,
namespace wolf
{
template<typename T>
inline bool FactorRangeBearing::operator ()(const T* const _p_w_r, // robot position
const T* const _o_w_r, // robot orientation
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk, // landmark position
T* _res) const // residuals
template <typename T>
inline bool FactorRangeBearing::operator()(const T* const _p_w_r, // robot position
const T* const _o_w_r, // robot orientation
const T* const _p_r_s, // sensor position
const T* const _o_r_s, // sensor orientation
const T* const _lmk, // landmark position
T* _res) const // residuals
{
// NOTE: The scalar type template 'T' can be of two types:
// - double --> this allows direct computation of the residual
......@@ -117,43 +102,45 @@ inline bool FactorRangeBearing::operator ()(const T* const _p_w_r, // robot posi
// 6. Weight the error with the covariance, and compute the residual
// 0. Map input pointers into meaningful Eigen elements
Map<const Matrix<T, 2, 1>> lmk(_lmk); // point in world frame
Map<Matrix<T, 2, 1>> res(_res); // residual
Map<const Matrix<T, 2, 1>> lmk(_lmk); // point in world frame
Map<Matrix<T, 2, 1>> res(_res); // residual
// 1. produce transformation matrices to transform from sensor frame --> to robot frame --> to world frame
Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot frame = robot-to-world transform
Transform<T, 2, Isometry> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Sensor frame = sensor-to-robot transform
Transform<T, 2, Isometry> H_w_r =
Translation<T, 2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r); // Robot frame = robot-to-world transform
Transform<T, 2, Isometry> H_r_s =
Translation<T, 2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s); // Sensor frame = sensor-to-robot transform
// 2. Transform world-referenced landmark point to sensor-referenced point
Transform<T, 2, Isometry> H_w_s = H_w_r * H_r_s; // world-to-sensor transform
Matrix<T, 2, 1> lmk_s = H_w_s.inverse() * lmk; // point in sensor frame
Transform<T, 2, Isometry> H_w_s = H_w_r * H_r_s; // world-to-sensor transform
Matrix<T, 2, 1> lmk_s = H_w_s.inverse() * lmk; // point in sensor frame
// 3. Get the expected range-and-bearing of the point
Matrix<T, 2, 1> exp_rb;
exp_rb(0) = sqrt(lmk_s.squaredNorm()); // range is norm. This code workaround is because Eigen::v.norm() is problematic with scalar type ceres::Jet
exp_rb(1) = atan2(lmk_s(1), lmk_s(0)); // bearing
exp_rb(0) = sqrt(lmk_s.squaredNorm()); // range is norm. This code workaround is because Eigen::v.norm() is
// problematic with scalar type ceres::Jet
exp_rb(1) = atan2(lmk_s(1), lmk_s(0)); // bearing
// 4. Get the measured range-and-bearing to the point
auto& meas_rb = getMeasurement();
// 5. Get the error by comparing the expected against the measurement
Matrix<T, 2, 1> err_rb = meas_rb - exp_rb;
while (err_rb(1) < T(-M_PI)) // bring angle between -pi and pi
err_rb(1) += T(2*M_PI);
while (err_rb(1) > T(M_PI))
err_rb(1) -= T(2*M_PI);
Matrix<T, 2, 1> err_rb = meas_rb - exp_rb;
while (err_rb(1) < T(-M_PI)) // bring angle between -pi and pi
err_rb(1) += T(2 * M_PI);
while (err_rb(1) > T(M_PI)) err_rb(1) -= T(2 * M_PI);
// 6. Compute the residual by weighting the error according to the standard deviation of the bearing part
// NOTE: the weight R is the upper square root of the information matrix Omega, which is in turn the inverse of the covariance Cov:
// NOTE: the weight R is the upper square root of the information matrix Omega, which is in turn the inverse of the
// covariance Cov:
// R = Omega^(T/2) = Omega^(1/2)^T = Cov(-T/2)
// where R is called the upper square root of Omega, and is such that
// R^T * R = Omega
// in other words, R is the Cholesky decomposition of Omega.
// NOTE: you get R directly from the Feature with getMeasurementSquareRootInformationUpper()
res = getMeasurementSquareRootInformationUpper() * err_rb;
res = getMeasurementSquareRootInformationUpper() * err_rb;
return true;
}
} // namespace wolf
#endif /* HELLO_WOLF_FACTOR_RANGE_BEARING_H_ */
} // namespace wolf