fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-04 11:18:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix README/cmake format.

Browse Source
This commit is contained in:
James Goppert
2018-03-28 00:11:03 -04:00
committed by James Goppert
parent d142ac234c
commit e7c95fa027
4 changed files with 227 additions and 222 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+95 -95
View File
@@ -10,8 +10,8 @@ set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
if (NOT CMAKE_BUILD_TYPE) if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE) set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
message(STATUS "set build type to ${CMAKE_BUILD_TYPE}") message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
endif() endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage") set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
@@ -28,133 +28,133 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
include_directories(${CMAKE_SOURCE_DIR}) include_directories(${CMAKE_SOURCE_DIR})
if(SUPPORT_STDIOSTREAM) if(SUPPORT_STDIOSTREAM)
add_definitions(-DSUPPORT_STDIOSTREAM) add_definitions(-DSUPPORT_STDIOSTREAM)
endif() endif()
set(CMAKE_CXX_FLAGS_COVERAGE set(CMAKE_CXX_FLAGS_COVERAGE
"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors" "--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE) CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
"--coverage -ftest-coverage -lgcov" "--coverage -ftest-coverage -lgcov"
CACHE STRING "Flags used for linking binaries during coverage builds" FORCE) CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE) mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
add_compile_options( add_compile_options(
-pedantic -pedantic
-Wall -Wall
-Warray-bounds -Warray-bounds
-Wcast-align -Wcast-align
-Wcast-qual -Wcast-qual
-Wconversion -Wconversion
-Wctor-dtor-privacy -Wctor-dtor-privacy
-Wdisabled-optimization -Wdisabled-optimization
-Werror -Werror
-Wextra -Wextra
-Wfloat-equal -Wfloat-equal
-Wformat-security -Wformat-security
-Wformat=2 -Wformat=2
-Winit-self -Winit-self
-Wlogical-op -Wlogical-op
-Wmissing-declarations -Wmissing-declarations
-Wmissing-include-dirs -Wmissing-include-dirs
-Wno-sign-compare -Wno-sign-compare
-Wno-unused -Wno-unused
-Wno-unused-parameter -Wno-unused-parameter
-Wnoexcept -Wnoexcept
-Wold-style-cast -Wold-style-cast
-Woverloaded-virtual -Woverloaded-virtual
-Wpointer-arith -Wpointer-arith
-Wredundant-decls -Wredundant-decls
-Wreorder -Wreorder
-Wshadow -Wshadow
-Wsign-conversion -Wsign-conversion
-Wsign-promo -Wsign-promo
-Wstrict-null-sentinel -Wstrict-null-sentinel
-Wswitch-default -Wswitch-default
-Wundef -Wundef
-Wuninitialized -Wuninitialized
-Wunused-variable -Wunused-variable
) )
# clang tolerate unknown gcc options # clang tolerate unknown gcc options
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
add_compile_options( add_compile_options(
-Wno-error=unused-command-line-argument-hard-error-in-future -Wno-error=unused-command-line-argument-hard-error-in-future
-Wno-unknown-warning-option -Wno-unknown-warning-option
) )
else() else()
add_compile_options( add_compile_options(
-Wstrict-overflow=5 -Wstrict-overflow=5
) )
endif() endif()
# santiziers (ASAN, UBSAN) # santiziers (ASAN, UBSAN)
if(ASAN) if(ASAN)
message(STATUS "address sanitizer enabled") message(STATUS "address sanitizer enabled")
# environment variables # environment variables
# ASAN_OPTIONS=detect_stack_use_after_return=1 # ASAN_OPTIONS=detect_stack_use_after_return=1
# ASAN_OPTIONS=check_initialization_order=1 # ASAN_OPTIONS=check_initialization_order=1
add_compile_options( add_compile_options(
-fsanitize=address -fsanitize=address
-g3 -g3
-O1 -O1
-fno-omit-frame-pointer -fno-omit-frame-pointer
) )
set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address) set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
elseif(UBSAN) elseif(UBSAN)
message(STATUS "undefined behaviour sanitizer enabled") message(STATUS "undefined behaviour sanitizer enabled")
add_compile_options( add_compile_options(
-fsanitize=undefined -fsanitize=undefined
-fsanitize=integer -fsanitize=integer
-g3 -g3
-O1 -O1
-fno-omit-frame-pointer -fno-omit-frame-pointer
) )
set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined) set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
endif() endif()
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
if(TESTING) if(TESTING)
enable_testing() enable_testing()
add_subdirectory(test) add_subdirectory(test)
add_dependencies(check test_build) add_dependencies(check test_build)
add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp) add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
add_dependencies(clang-tidy test_build) add_dependencies(clang-tidy test_build)
endif() endif()
if(FORMAT) if(FORMAT)
set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle) set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
add_custom_command(OUTPUT ${astyle_exe} add_custom_command(OUTPUT ${astyle_exe}
COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
COMMAND tar -xvf /tmp/astyle.tar.gz COMMAND tar -xvf /tmp/astyle.tar.gz
COMMAND cd astyle/src && make -f ../build/gcc/Makefile COMMAND cd astyle/src && make -f ../build/gcc/Makefile
WORKING_DIRECTORY ${CMAKE_BINARY_DIR} WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
) )
add_custom_target(check_format add_custom_target(check_format
COMMAND scripts/format.sh ${astyle_exe} 0 COMMAND scripts/format.sh ${astyle_exe} 0
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
DEPENDS ${astyle_exe} DEPENDS ${astyle_exe}
VERBATIM VERBATIM
) )
add_custom_target(format add_custom_target(format
COMMAND scripts/format.sh ${astyle_exe} 1 COMMAND scripts/format.sh ${astyle_exe} 1
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
VERBATIM VERBATIM
DEPENDS ${astyle_exe} DEPENDS ${astyle_exe}
) )
add_dependencies(check check_format) add_dependencies(check check_format)
endif() endif()
set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR}) set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR})
@@ -163,4 +163,4 @@ set(CPACK_PACKAGE_VERSION_PATCH ${VERSION_PATCH})
set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com") set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
include(CPack) include(CPack)
# vim: set noet fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 : # vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
README.md
+72 -71
View File
@@ -16,111 +16,112 @@ A simple and efficient template based matrix library.
## Library Overview ## Library Overview
* matrix/math.hpp : Provides matrix math routines. * matrix/math.hpp : Provides matrix math routines.
* Matrix (MxN) * Matrix (MxN)
* Square Matrix (MxM, has inverse) * Square Matrix (MxM, has inverse)
* Vector (Mx1) * Vector (Mx1)
* Scalar (1x1) * Scalar (1x1)
* Quaternion * Quaternion
* Dcm * Dcm
* Euler (Body 321) * Euler (Body 321)
* Axis Angle * Axis Angle
* matrix/filter.hpp : Provides filtering routines. * matrix/filter.hpp : Provides filtering routines.
* kalman_correct * kalman_correct
* matrix/integrate.hpp : Provides integration routines. * matrix/integrate.hpp : Provides integration routines.
* integrate_rk4 (Runge-Kutta 4th order) * integrate_rk4 (Runge-Kutta 4th order)
## Example ## Example
See the test directory for detailed examples. Some simple examples are included below: See the test directory for detailed examples. Some simple examples are included below:
```c++ ```c++
// define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation) // define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
float roll = 0.1f; float roll = 0.1f;
float pitch = 0.2f; float pitch = 0.2f;
float yaw = 0.3f; float yaw = 0.3f;
Eulerf euler(roll, pitch, yaw); Eulerf euler(roll, pitch, yaw);
// convert to quaternion from euler // convert to quaternion from euler
Quatf q_nb(euler); Quatf q_nb(euler);
// convert to DCM from quaternion // convert to DCM from quaternion
Dcmf dcm(q_nb); Dcmf dcm(q_nb);
// you can assign a rotation instance that already exist to another rotation instance, e.g. // you can assign a rotation instance that already exist to another rotation instance, e.g.
dcm = euler; dcm = euler;
// you can also directly create a DCM instance from euler angles like this // you can also directly create a DCM instance from euler angles like this
dcm = Eulerf(roll, pitch, yaw); dcm = Eulerf(roll, pitch, yaw);
// create an axis angle representation from euler angles // create an axis angle representation from euler angles
AxisAngle<float> axis_angle = euler; AxisAngle<float> axis_angle = euler;
// use axis angle to initialize a DCM // use axis angle to initialize a DCM
Dcmf dcm2(AxisAngle(1, 2, 3)); Dcmf dcm2(AxisAngle(1, 2, 3));
// use axis angle with axis/angle separated to init DCM // use axis angle with axis/angle separated to init DCM
Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2)); Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
// do some kalman filtering // do some kalman filtering
const size_t n_x = 5; const size_t n_x = 5;
const size_t n_y = 3; const size_t n_y = 3;
// define matrix sizes // define matrix sizes
SquareMatrix<float, n_x> P; SquareMatrix<float, n_x> P;
Vector<float, n_x> x; Vector<float, n_x> x;
Vector<float, n_y> y; Vector<float, n_y> y;
Matrix<float, n_y, n_x> C; Matrix<float, n_y, n_x> C;
SquareMatrix<float, n_y> R; SquareMatrix<float, n_y> R;
SquareMatrix<float, n_y> S; SquareMatrix<float, n_y> S;
Matrix<float, n_x, n_y> K; Matrix<float, n_x, n_y> K;
// define measurement matrix // define measurement matrix
C = zero<float, n_y, n_x>(); // or C.setZero() C = zero<float, n_y, n_x>(); // or C.setZero()
C(0,0) = 1; C(0,0) = 1;
C(1,1) = 2; C(1,1) = 2;
C(2,2) = 3; C(2,2) = 3;
// set x to zero // set x to zero
x = zero<float, n_x, 1>(); // or x.setZero() x = zero<float, n_x, 1>(); // or x.setZero()
// set P to identity * 0.01 // set P to identity * 0.01
P = eye<float, n_x>()*0.01; P = eye<float, n_x>()*0.01;
// set R to identity * 0.1 // set R to identity * 0.1
R = eye<float, n_y>()*0.1; R = eye<float, n_y>()*0.1;
// measurement // measurement
y(0) = 1; y(0) = 1;
y(1) = 2; y(1) = 2;
y(2) = 3; y(2) = 3;
// innovation // innovation
r = y - C*x; r = y - C*x;
// innovations variance // innovations variance
S = C*P*C.T() + R; S = C*P*C.T() + R;
// Kalman gain matrix // Kalman gain matrix
K = P*C.T()*S.I(); K = P*C.T()*S.I();
// S.I() is the inverse, defined for SquareMatrix // S.I() is the inverse, defined for SquareMatrix
// correction // correction
x += K*r; x += K*r;
// slicing // slicing
float data[9] = {0, 2, 3, float data[9] = {0, 2, 3,
4, 5, 6, 4, 5, 6,
7, 8, 10 7, 8, 10
}; };
SquareMatrix<float, 3> A(data); SquareMatrix<float, 3> A(data);
// Slice a 3,3 matrix starting at row 1, col 0, // Slice a 3,3 matrix starting at row 1, col 0,
// with size 2 x 3, warning, no size checking // with size 2 x 3, warning, no size checking
Matrix<float, 2, 3> B(A.slice<2, 3>(1, 0)); Matrix<float, 2, 3> B(A.slice<2, 3>(1, 0));
// this results in: // this results in:
// 4, 5, 6 // 4, 5, 6
// 7, 8, 10 // 7, 8, 10
``` ```
<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
scripts/format.sh
+14 -12
View File
@@ -12,17 +12,19 @@ format_wildcards="""
if [[ $format -eq 1 ]] if [[ $format -eq 1 ]]
then then
echo formatting echo formatting
$astyle ${format_wildcards} $astyle ${format_wildcards}
else else
echo checking format... echo checking format...
$astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null $astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
if [[ $? -eq 0 ]] if [[ $? -eq 0 ]]
then then
echo Error: need to format echo Error: need to format
echo "From cmake build directory run: 'make format'" echo "From cmake build directory run: 'make format'"
exit 1 exit 1
fi fi
echo no formatting needed echo no formatting needed
exit 0 exit 0
fi fi
# vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 :
test/CMakeLists.txt
+46 -44
View File
@@ -1,57 +1,59 @@
set(tests set(tests
setIdentity setIdentity
inverse inverse
slice slice
matrixMult matrixMult
vectorAssignment vectorAssignment
matrixAssignment matrixAssignment
matrixScalarMult matrixScalarMult
transpose transpose
vector vector
vector2 vector2
vector3 vector3
attitude attitude
filter filter
integration integration
squareMatrix squareMatrix
helper helper
hatvee hatvee
copyto copyto
) )
add_custom_target(test_build) add_custom_target(test_build)
foreach(test_name ${tests}) foreach(test_name ${tests})
add_executable(${test_name} add_executable(${test_name}
${test_name}.cpp) ${test_name}.cpp)
add_test(test_${test_name} ${test_name}) add_test(test_${test_name} ${test_name})
add_dependencies(test_build ${test_name}) add_dependencies(test_build ${test_name})
endforeach() endforeach()
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage") if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
add_custom_target(coverage_build add_custom_target(coverage_build
COMMAND ${CMAKE_CTEST_COMMAND} COMMAND ${CMAKE_CTEST_COMMAND}
COMMAND lcov --capture --directory . --output-file coverage.info COMMAND lcov --capture --directory . --output-file coverage.info
COMMAND lcov --summary coverage.info COMMAND lcov --summary coverage.info
WORKING_DIRECTORY ${CMAKE_BUILD_DIR} WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
DEPENDS test_build DEPENDS test_build
) )
add_custom_target(coverage_html add_custom_target(coverage_html
COMMAND genhtml coverage.info --output-directory out COMMAND genhtml coverage.info --output-directory out
COMMAND x-www-browser out/index.html COMMAND x-www-browser out/index.html
WORKING_DIRECTORY ${CMAKE_BUILD_DIR} WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
DEPENDS coverage_build DEPENDS coverage_build
) )
set(coverage_deps set(coverage_deps
coverage_build) coverage_build)
if (COV_HTML) if (COV_HTML)
list(APPEND coverage_deps coverage_html) list(APPEND coverage_deps coverage_html)
endif() endif()
add_custom_target(coverage add_custom_target(coverage
DEPENDS ${coverage_deps} DEPENDS ${coverage_deps}
) )
endif() endif()
# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :