mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-27 19:40:05 +08:00
Fix README/cmake format.
This commit is contained in:
James Goppert
committed by
James Goppert
James Goppert
parent
d142ac234c
commit
e7c95fa027
+95
-95
@@ -10,8 +10,8 @@ set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
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set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
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endif()
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
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@@ -28,133 +28,133 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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include_directories(${CMAKE_SOURCE_DIR})
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if(SUPPORT_STDIOSTREAM)
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add_definitions(-DSUPPORT_STDIOSTREAM)
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add_definitions(-DSUPPORT_STDIOSTREAM)
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endif()
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set(CMAKE_CXX_FLAGS_COVERAGE
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"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
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"--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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"--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
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add_compile_options(
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-pedantic
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-Wall
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-Warray-bounds
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-Wcast-align
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-Wcast-qual
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-Wconversion
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-Wctor-dtor-privacy
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-Wdisabled-optimization
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-Werror
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-Wextra
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-Wfloat-equal
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-Wformat-security
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-Wformat=2
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-Winit-self
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-Wlogical-op
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-Wmissing-declarations
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-Wmissing-include-dirs
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-Wno-sign-compare
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-Wno-unused
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-Wno-unused-parameter
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-Wnoexcept
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-Wold-style-cast
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-Woverloaded-virtual
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-Wpointer-arith
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-Wredundant-decls
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-Wreorder
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-Wshadow
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-Wsign-conversion
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-Wsign-promo
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-Wstrict-null-sentinel
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-Wswitch-default
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-Wundef
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-Wuninitialized
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-Wunused-variable
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)
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-pedantic
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-Wall
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-Warray-bounds
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-Wcast-align
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-Wcast-qual
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-Wconversion
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-Wctor-dtor-privacy
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-Wdisabled-optimization
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-Werror
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-Wextra
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-Wfloat-equal
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-Wformat-security
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-Wformat=2
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-Winit-self
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-Wlogical-op
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-Wmissing-declarations
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-Wmissing-include-dirs
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-Wno-sign-compare
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-Wno-unused
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-Wno-unused-parameter
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-Wnoexcept
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-Wold-style-cast
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-Woverloaded-virtual
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-Wpointer-arith
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-Wredundant-decls
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-Wreorder
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-Wshadow
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-Wsign-conversion
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-Wsign-promo
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-Wstrict-null-sentinel
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-Wswitch-default
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-Wundef
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-Wuninitialized
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-Wunused-variable
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)
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# clang tolerate unknown gcc options
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if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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add_compile_options(
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-Wno-error=unused-command-line-argument-hard-error-in-future
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-Wno-unknown-warning-option
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)
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add_compile_options(
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-Wno-error=unused-command-line-argument-hard-error-in-future
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-Wno-unknown-warning-option
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)
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else()
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add_compile_options(
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-Wstrict-overflow=5
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)
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add_compile_options(
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-Wstrict-overflow=5
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)
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endif()
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# santiziers (ASAN, UBSAN)
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if(ASAN)
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message(STATUS "address sanitizer enabled")
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message(STATUS "address sanitizer enabled")
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# environment variables
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# ASAN_OPTIONS=detect_stack_use_after_return=1
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# ASAN_OPTIONS=check_initialization_order=1
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# environment variables
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# ASAN_OPTIONS=detect_stack_use_after_return=1
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# ASAN_OPTIONS=check_initialization_order=1
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add_compile_options(
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-fsanitize=address
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-g3
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-O1
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-fno-omit-frame-pointer
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)
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add_compile_options(
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-fsanitize=address
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-g3
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-O1
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-fno-omit-frame-pointer
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)
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set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
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set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
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elseif(UBSAN)
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message(STATUS "undefined behaviour sanitizer enabled")
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message(STATUS "undefined behaviour sanitizer enabled")
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add_compile_options(
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-fsanitize=undefined
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-fsanitize=integer
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-g3
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-O1
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-fno-omit-frame-pointer
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)
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add_compile_options(
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-fsanitize=undefined
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-fsanitize=integer
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-g3
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-O1
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-fno-omit-frame-pointer
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)
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set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
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set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
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endif()
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add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
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if(TESTING)
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enable_testing()
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add_subdirectory(test)
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add_dependencies(check test_build)
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enable_testing()
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add_subdirectory(test)
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add_dependencies(check test_build)
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add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
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add_dependencies(clang-tidy test_build)
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add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
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add_dependencies(clang-tidy test_build)
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endif()
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if(FORMAT)
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set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
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add_custom_command(OUTPUT ${astyle_exe}
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COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
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COMMAND tar -xvf /tmp/astyle.tar.gz
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COMMAND cd astyle/src && make -f ../build/gcc/Makefile
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
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add_custom_command(OUTPUT ${astyle_exe}
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COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
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COMMAND tar -xvf /tmp/astyle.tar.gz
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COMMAND cd astyle/src && make -f ../build/gcc/Makefile
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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add_custom_target(check_format
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COMMAND scripts/format.sh ${astyle_exe} 0
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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DEPENDS ${astyle_exe}
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VERBATIM
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)
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add_custom_target(check_format
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COMMAND scripts/format.sh ${astyle_exe} 0
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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DEPENDS ${astyle_exe}
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VERBATIM
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)
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add_custom_target(format
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COMMAND scripts/format.sh ${astyle_exe} 1
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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VERBATIM
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DEPENDS ${astyle_exe}
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)
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add_custom_target(format
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COMMAND scripts/format.sh ${astyle_exe} 1
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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VERBATIM
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DEPENDS ${astyle_exe}
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)
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add_dependencies(check check_format)
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add_dependencies(check check_format)
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endif()
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set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR})
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@@ -163,4 +163,4 @@ set(CPACK_PACKAGE_VERSION_PATCH ${VERSION_PATCH})
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set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
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include(CPack)
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# vim: set noet fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
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# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
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@@ -16,111 +16,112 @@ A simple and efficient template based matrix library.
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## Library Overview
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* matrix/math.hpp : Provides matrix math routines.
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* Matrix (MxN)
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* Square Matrix (MxM, has inverse)
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* Vector (Mx1)
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* Scalar (1x1)
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* Quaternion
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* Dcm
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* Euler (Body 321)
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* Axis Angle
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* Matrix (MxN)
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* Square Matrix (MxM, has inverse)
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* Vector (Mx1)
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* Scalar (1x1)
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* Quaternion
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* Dcm
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* Euler (Body 321)
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* Axis Angle
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* matrix/filter.hpp : Provides filtering routines.
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* kalman_correct
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* kalman_correct
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* matrix/integrate.hpp : Provides integration routines.
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* integrate_rk4 (Runge-Kutta 4th order)
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* integrate_rk4 (Runge-Kutta 4th order)
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## Example
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See the test directory for detailed examples. Some simple examples are included below:
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```c++
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// define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
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float roll = 0.1f;
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float pitch = 0.2f;
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float yaw = 0.3f;
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Eulerf euler(roll, pitch, yaw);
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// define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
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float roll = 0.1f;
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float pitch = 0.2f;
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float yaw = 0.3f;
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Eulerf euler(roll, pitch, yaw);
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// convert to quaternion from euler
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Quatf q_nb(euler);
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// convert to quaternion from euler
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Quatf q_nb(euler);
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// convert to DCM from quaternion
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Dcmf dcm(q_nb);
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// convert to DCM from quaternion
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Dcmf dcm(q_nb);
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// you can assign a rotation instance that already exist to another rotation instance, e.g.
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dcm = euler;
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// you can assign a rotation instance that already exist to another rotation instance, e.g.
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dcm = euler;
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// you can also directly create a DCM instance from euler angles like this
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dcm = Eulerf(roll, pitch, yaw);
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// you can also directly create a DCM instance from euler angles like this
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dcm = Eulerf(roll, pitch, yaw);
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// create an axis angle representation from euler angles
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AxisAngle<float> axis_angle = euler;
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// create an axis angle representation from euler angles
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AxisAngle<float> axis_angle = euler;
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// use axis angle to initialize a DCM
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Dcmf dcm2(AxisAngle(1, 2, 3));
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// use axis angle with axis/angle separated to init DCM
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Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
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// use axis angle to initialize a DCM
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Dcmf dcm2(AxisAngle(1, 2, 3));
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// use axis angle with axis/angle separated to init DCM
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Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
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// do some kalman filtering
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const size_t n_x = 5;
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const size_t n_y = 3;
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// do some kalman filtering
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const size_t n_x = 5;
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const size_t n_y = 3;
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// define matrix sizes
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SquareMatrix<float, n_x> P;
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Vector<float, n_x> x;
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Vector<float, n_y> y;
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Matrix<float, n_y, n_x> C;
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SquareMatrix<float, n_y> R;
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SquareMatrix<float, n_y> S;
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Matrix<float, n_x, n_y> K;
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// define matrix sizes
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SquareMatrix<float, n_x> P;
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Vector<float, n_x> x;
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Vector<float, n_y> y;
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Matrix<float, n_y, n_x> C;
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SquareMatrix<float, n_y> R;
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SquareMatrix<float, n_y> S;
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Matrix<float, n_x, n_y> K;
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// define measurement matrix
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C = zero<float, n_y, n_x>(); // or C.setZero()
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C(0,0) = 1;
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C(1,1) = 2;
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C(2,2) = 3;
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// define measurement matrix
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C = zero<float, n_y, n_x>(); // or C.setZero()
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C(0,0) = 1;
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C(1,1) = 2;
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C(2,2) = 3;
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// set x to zero
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x = zero<float, n_x, 1>(); // or x.setZero()
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// set x to zero
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x = zero<float, n_x, 1>(); // or x.setZero()
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// set P to identity * 0.01
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P = eye<float, n_x>()*0.01;
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// set P to identity * 0.01
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P = eye<float, n_x>()*0.01;
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// set R to identity * 0.1
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R = eye<float, n_y>()*0.1;
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// set R to identity * 0.1
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R = eye<float, n_y>()*0.1;
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// measurement
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y(0) = 1;
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y(1) = 2;
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y(2) = 3;
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// measurement
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y(0) = 1;
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y(1) = 2;
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y(2) = 3;
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// innovation
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r = y - C*x;
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// innovation
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r = y - C*x;
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// innovations variance
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S = C*P*C.T() + R;
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// innovations variance
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S = C*P*C.T() + R;
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// Kalman gain matrix
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K = P*C.T()*S.I();
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// S.I() is the inverse, defined for SquareMatrix
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// Kalman gain matrix
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K = P*C.T()*S.I();
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// S.I() is the inverse, defined for SquareMatrix
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// correction
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x += K*r;
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// correction
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x += K*r;
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// slicing
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// slicing
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float data[9] = {0, 2, 3,
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4, 5, 6,
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7, 8, 10
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};
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SquareMatrix<float, 3> A(data);
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// Slice a 3,3 matrix starting at row 1, col 0,
|
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// with size 2 x 3, warning, no size checking
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// Slice a 3,3 matrix starting at row 1, col 0,
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// with size 2 x 3, warning, no size checking
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Matrix<float, 2, 3> B(A.slice<2, 3>(1, 0));
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// this results in:
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// 4, 5, 6
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// 7, 8, 10
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// this results in:
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// 4, 5, 6
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// 7, 8, 10
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```
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<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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+14
-12
@@ -12,17 +12,19 @@ format_wildcards="""
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||||
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||||
if [[ $format -eq 1 ]]
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then
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echo formatting
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||||
$astyle ${format_wildcards}
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||||
echo formatting
|
||||
$astyle ${format_wildcards}
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||||
else
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||||
echo checking format...
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||||
$astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
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||||
if [[ $? -eq 0 ]]
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then
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||||
echo Error: need to format
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||||
echo "From cmake build directory run: 'make format'"
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||||
exit 1
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||||
fi
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||||
echo no formatting needed
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||||
exit 0
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||||
echo checking format...
|
||||
$astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
|
||||
if [[ $? -eq 0 ]]
|
||||
then
|
||||
echo Error: need to format
|
||||
echo "From cmake build directory run: 'make format'"
|
||||
exit 1
|
||||
fi
|
||||
echo no formatting needed
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||||
exit 0
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||||
fi
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||||
|
||||
# vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 :
|
||||
|
||||
+46
-44
@@ -1,57 +1,59 @@
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||||
set(tests
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||||
setIdentity
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||||
inverse
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||||
slice
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matrixMult
|
||||
vectorAssignment
|
||||
matrixAssignment
|
||||
matrixScalarMult
|
||||
transpose
|
||||
vector
|
||||
vector2
|
||||
vector3
|
||||
attitude
|
||||
filter
|
||||
integration
|
||||
squareMatrix
|
||||
helper
|
||||
hatvee
|
||||
copyto
|
||||
)
|
||||
setIdentity
|
||||
inverse
|
||||
slice
|
||||
matrixMult
|
||||
vectorAssignment
|
||||
matrixAssignment
|
||||
matrixScalarMult
|
||||
transpose
|
||||
vector
|
||||
vector2
|
||||
vector3
|
||||
attitude
|
||||
filter
|
||||
integration
|
||||
squareMatrix
|
||||
helper
|
||||
hatvee
|
||||
copyto
|
||||
)
|
||||
|
||||
add_custom_target(test_build)
|
||||
foreach(test_name ${tests})
|
||||
add_executable(${test_name}
|
||||
${test_name}.cpp)
|
||||
add_test(test_${test_name} ${test_name})
|
||||
add_dependencies(test_build ${test_name})
|
||||
add_executable(${test_name}
|
||||
${test_name}.cpp)
|
||||
add_test(test_${test_name} ${test_name})
|
||||
add_dependencies(test_build ${test_name})
|
||||
endforeach()
|
||||
|
||||
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
|
||||
|
||||
add_custom_target(coverage_build
|
||||
COMMAND ${CMAKE_CTEST_COMMAND}
|
||||
COMMAND lcov --capture --directory . --output-file coverage.info
|
||||
COMMAND lcov --summary coverage.info
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS test_build
|
||||
)
|
||||
add_custom_target(coverage_build
|
||||
COMMAND ${CMAKE_CTEST_COMMAND}
|
||||
COMMAND lcov --capture --directory . --output-file coverage.info
|
||||
COMMAND lcov --summary coverage.info
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS test_build
|
||||
)
|
||||
|
||||
add_custom_target(coverage_html
|
||||
COMMAND genhtml coverage.info --output-directory out
|
||||
COMMAND x-www-browser out/index.html
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS coverage_build
|
||||
)
|
||||
add_custom_target(coverage_html
|
||||
COMMAND genhtml coverage.info --output-directory out
|
||||
COMMAND x-www-browser out/index.html
|
||||
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
|
||||
DEPENDS coverage_build
|
||||
)
|
||||
|
||||
set(coverage_deps
|
||||
coverage_build)
|
||||
set(coverage_deps
|
||||
coverage_build)
|
||||
|
||||
if (COV_HTML)
|
||||
list(APPEND coverage_deps coverage_html)
|
||||
endif()
|
||||
if (COV_HTML)
|
||||
list(APPEND coverage_deps coverage_html)
|
||||
endif()
|
||||
|
||||
add_custom_target(coverage
|
||||
DEPENDS ${coverage_deps}
|
||||
)
|
||||
add_custom_target(coverage
|
||||
DEPENDS ${coverage_deps}
|
||||
)
|
||||
endif()
|
||||
|
||||
# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
|
||||
|
||||
Reference in New Issue
Block a user