feat: merge factorgraph refactor onto main

Cargo.toml

@@ -4,7 +4,8 @@ cargo-features = [
 
 [workspace]
 resolver = "2" # Important! wgpu/bevy needs this!
-members = [ "crates/angle",
+members = [
+  "crates/angle",
   "crates/min_len_vec",
   "crates/percentage",
   "crates/unit_interval",
@@ -13,7 +14,11 @@ members = [ "crates/angle",
   # "crates/bevy_undo_redo",
   "crates/gbpplanner-rs",
   "crates/bevy_notify",
-  "crates/units", "crates/repeating_array",
+  "crates/units",
+  "crates/repeating_array",
+  "crates/units",
+  "crates/units",
+  "crates/bevy_fullscreen",
 ]
 
 [workspace.package]

crates/bevy_notify/src/lib.rs

@@ -45,6 +45,7 @@ pub mod prelude {
 /// Adds event `ToastEvent` to be used in systems.
 /// Uses a `Update` system to render the toasts on the screen at the specified
 /// anchor
+#[derive(Debug)]
 pub struct NotifyPlugin {
     /// Anchor for where to render the toasts in the main window
     /// Defaults to `Anchor::TopCenter`
@@ -108,7 +109,7 @@ impl Toasts {
 }
 
 /// Event for creating a toast
-#[derive(Event)]
+#[derive(Debug, Event)]
 pub struct ToastEvent {
     /// The caption of the toast
     pub caption: String,

crates/gbp_linalg/src/lib.rs

@@ -5,6 +5,8 @@ pub mod pretty_print;
 /// `use gbp_linalg::prelude::*` to import all the common symbols from this
 /// crate
 pub mod prelude {
+    // pub use ndarray::{array, concatenate, s, Axis};
+
     pub use super::{
         pretty_print::*, Float, GbpFloat, Matrix, MatrixView, NdarrayVectorExt, Vector, VectorNorm,
         VectorView,
@@ -41,12 +43,16 @@ pub type VectorView<'a, T> = ndarray::ArrayView1<'a, T>;
 /// Type alias for `ndarray::ArrayView2<T>`
 pub type MatrixView<'a, T> = ndarray::ArrayView2<'a, T>;
 
-///
+/// Trait for vector norms
 pub trait VectorNorm {
+    /// The scalar type of the vector
     type Scalar: GbpFloat;
+    /// Calculate the Euclidean norm of the vector
     fn euclidean_norm(&self) -> Self::Scalar;
+    /// Calculate the L1 norm of the vector
     fn l1_norm(&self) -> Self::Scalar;
 
+    /// Calculate the L2 norm of the vector
     #[inline(always)]
     fn l2_norm(&self) -> Self::Scalar {
         self.euclidean_norm()
@@ -73,8 +79,11 @@ macro_rules! vector_norm_trait_impl {
 vector_norm_trait_impl!(f32);
 vector_norm_trait_impl!(f64);
 
+/// Extension trait for `ndarray::Array1<T>`
 pub trait NdarrayVectorExt: Clone + VectorNorm {
+    /// The scalar type of the vector
     type Scalar: GbpFloat;
+    /// Normalize the vector in place.
     fn normalize(&mut self);
     /// Return a normalized copy of the vector.
     fn normalized(&self) -> Self {

crates/gbp_linalg/src/pretty_print.rs

@@ -63,6 +63,7 @@ pub fn num_of_integral_digits(mut f: f64) -> Option<usize> {
     Some(count)
 }
 
+/// Map a floating point number to a ansi color string.
 fn float_color(f: f64) -> &'static str {
     if f.is_nan() {
         MAGENTA_TEXT
@@ -190,6 +191,8 @@ pub fn _pretty_print_matrix<T, M>(
     );
 }
 
+/// Internal function to pretty print a vector
+/// Use by the [`pretty_print_vector!`] macro
 pub fn _pretty_print_vector<T, V>(
     vector: &V,
     name: Option<&str>,
@@ -302,13 +305,15 @@ pub fn _pretty_print_vector<T, V>(
     );
 }
 
+/// Extension trait that adds a [`pretty_print`] method to vectors
 pub trait PrettyPrintVector<T: GbpFloat>: Sized {
     /// Returns the length of the vector.
     #[allow(clippy::len_without_is_empty)]
     fn len(&self) -> usize;
     /// Returns the element at index `i`.
     fn at(&self, i: usize) -> T;
 
+    /// Pretty prints the vector.
     #[inline(always)]
     fn pretty_print(&self) {
         _pretty_print_vector(self, None, None, None);
@@ -326,12 +331,14 @@ impl<T: GbpFloat> PrettyPrintVector<T> for Vector<T> {
         self[i]
     }
 }
+/// Extension trait that adds a [`pretty_print`] method to matrices
 pub trait PrettyPrintMatrix<T: GbpFloat>: Sized {
     /// Returns the shape of the matrix as a tuple `(nrows, ncols)`.
     fn shape(&self) -> (usize, usize);
     /// Returns the element at index `(i, j)`.
     fn at(&self, i: usize, j: usize) -> T;
 
+    /// Pretty prints the matrix.
     #[inline(always)]
     fn pretty_print(&self) {
         _pretty_print_matrix(self, None, None, None);
@@ -350,6 +357,7 @@ impl<T: GbpFloat> PrettyPrintMatrix<T> for Matrix<T> {
     }
 }
 
+/// Pretty prints a vector
 #[macro_export]
 macro_rules! pretty_print_vector {
     ($name:expr) => {
@@ -370,6 +378,7 @@ macro_rules! pretty_print_vector {
     };
 }
 
+/// Pretty prints a matrix
 #[macro_export]
 macro_rules! pretty_print_matrix {
     ($name:expr) => {

crates/gbp_multivariate_normal/src/lib.rs

@@ -1,30 +1,38 @@
-// #![warn(missing_docs)]
+//! Multivariate normal distribution type
 use gbp_linalg::{Float, Matrix, Vector};
 use ndarray_inverse::Inverse;
 
+/// Error type use by this module
 #[derive(Debug, thiserror::Error)]
 pub enum MultivariateNormalError {
+    /// The precision matrix is not square
     #[error("the precision matrix is not square, it has shape {0}x{1}")]
     NonSquarePrecisionMatrix(usize, usize),
     #[error(
         "the length of the information vector ({0}) is not equal to the number of rows ({1}) or \
          columns ({2}) of the precision matrix"
     )]
+    /// The length of the information vector is not equal to the number of rows
+    /// or columns of the precision matrix
     VectorLengthNotEqualMatrixShape(usize, usize, usize),
     #[error(
         "the covariance matrix is not invertible, which is required to calculate the precision \
          matrix"
     )]
+    /// The covariance matrix is not invertible
     NonInvertibleCovarianceMatrix,
     #[error(
         "the precision matrix is not invertible, which is required to calculate the covariance \
          matrix"
     )]
+    /// The precision matrix is not invertible
     NonInvertiblePrecisionMatrix,
 }
 
+/// Result type used by this module
 pub type Result<T> = std::result::Result<T, MultivariateNormalError>;
 
+/// Multivariate normal distribution stored in information form
 #[allow(clippy::len_without_is_empty)]
 #[derive(Debug, Clone)]
 pub struct MultivariateNormal {
@@ -145,11 +153,15 @@ impl MultivariateNormal {
         &self.precision
     }
 
+    /// Set the information vector of the multivariate normal distribution
+    /// Updates the cached mean internally.
     pub fn update_information_vector(&mut self, value: &Vector<Float>) {
         self.information.clone_from(value);
         self.update();
     }
 
+    /// Set the precision matrix of the multivariate normal distribution
+    /// Updates the cached mean internally.
     pub fn update_precision_matrix(&mut self, value: &Matrix<Float>) -> Result<()> {
         // if value.det() == Float::zero() {
         if value.det() == 0.0 {

crates/gbpplanner-rs/Cargo.toml

@@ -30,8 +30,11 @@ bevy = { version = "0.13.0", default-features = true, features = [
   # "wayland",
   # "dynamic_linking",
 ] }
+
 bevy-inspector-egui = "0.23.2"
-bevy_egui = "0.26.0"
+bevy_egui           = "0.26.0"
+egui_dock           = "0.11.4"
+egui_tiles          = "0.7.2"
 
 # bevy_egui = { git = "https://github.com/mvlabat/bevy_egui", branch = "main" } # 0.26 does not support egui 0.27, which egui-notify needs
 
@@ -104,6 +107,8 @@ serde_yaml       = "0.9.34"
 colored          = "2.1.0"
 directories      = "5.0.1"
 chrono           = "0.4.37"
+
+
 # font-kit = { version = "0.13.0", features = ["freetype"] }
 
 dark-light = "1.1.1"

crates/gbpplanner-rs/src/bevy_utils.rs

@@ -58,3 +58,26 @@ impl BevyPluginExt for bevy::app::App {
         self
     }
 }
+
+pub mod run_conditions {
+    use bevy::{
+        ecs::system::Res,
+        input::{keyboard::KeyCode, ButtonInput},
+    };
+
+    //     pub fn any_input_just_pressed(
+    //         // inputs: impl IntoIterator<Item = ButtonInput<KeyCode>>,
+    //         // inputs: impl IntoIterator<Item = KeyCode>,
+    //         // inputs: Vec<KeyCode>,
+    //     ) -> impl Fn(Res<ButtonInput<KeyCode>>) -> bool
+    // // where
+    //     //     T: Copy + Eq + Send + Sync + 'static,
+    //     {
+    //         move |keyboard_input: Res<ButtonInput<KeyCode>>|
+    // keyboard_input.any_pressed(inputs)
+
+    //         // move |keyboard_input: Res<ButtonInput<T>>| {
+    //         //     inputs.into_iter().any(|it|
+    // keyboard_input.just_pressed(it))         // }
+    //     }
+}

crates/gbpplanner-rs/src/bin/console.rs

@@ -1,3 +1,5 @@
+#![allow(missing_docs)]
+
 use bevy::{log::LogPlugin, prelude::*};
 use bevy_dev_console::prelude::*;
 

crates/gbpplanner-rs/src/bin/draw2d.rs

@@ -1,3 +1,5 @@
+#![allow(missing_docs)]
+
 use bevy::{prelude::*, window::WindowResized};
 // use std::f32::consts::{PI, TAU};
 

crates/gbpplanner-rs/src/bin/gizmos.rs

@@ -1,4 +1,4 @@
-#![allow(dead_code, unused_macros)]
+#![allow(dead_code, unused_macros, missing_docs)]
 
 use bevy::{prelude::*, window::WindowResized};
 // use std::f32::consts::{PI, TAU};