python cpp merge

.github/workflows/python.yaml

@@ -2,24 +2,25 @@ name: CheckPackage
 on: [push]
 
 jobs:
- build:
- runs-on: ubuntu-latest
- strategy:
- max-parallel: 5
- fail-fast: true
- matrix:
- python-version: ["3.8", "3.9", "3.10"]
- steps:
- - uses: actions/checkout@master
- - name: Setup Python ${{ matrix.python-version }}
- uses: actions/setup-python@v2
- with:
- python-version: ${{ matrix.python-version }}
- - name: Install packages
- run: |
- echo "Installing dependencies"
- python3 -m venv .venv
- source .venv/bin/activate
- pip install -U pip setuptools wheel poetry pytest
- poetry install
- pytest tests/
+ build:
+ runs-on: ubuntu-latest
+ strategy:
+ max-parallel: 5
+ fail-fast: true
+ matrix:
+ python-version: ["3.8", "3.9", "3.10", "3.11"]
+ steps:
+ - uses: actions/checkout@master
+ - name: Setup Python ${{ matrix.python-version }}
+ uses: actions/setup-python@v2
+ with:
+ python-version: ${{ matrix.python-version }}
+ - name: Install packages
+ run: |
+ cd python
+ echo "Installing dependencies"
+ python3 -m venv .venv
+ source .venv/bin/activate
+ pip install -U pip setuptools wheel poetry pytest
+ poetry install
+ pytest tests/

.gitignore

@@ -9,3 +9,9 @@ __pycache__
 .DS_Store
 *.lock
 .ipynb_checkpoints
+
+build
+.DS_Store
+._*
+.vscode
+old

cpp/.clang-format

@@ -0,0 +1,2 @@
+BasedOnStyle: LLVM
+IndentWidth: 2

cpp/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.10)
+PROJECT(squaternion VERSION "2023.02.18")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+
+if(PROJECT_IS_TOP_LEVEL)
+ cmake_host_system_information(RESULT HOST QUERY HOSTNAME)
+ cmake_host_system_information(RESULT OSN QUERY OS_NAME)
+ cmake_host_system_information(RESULT OS_VERSION QUERY OS_RELEASE)
+ cmake_host_system_information(RESULT PROC QUERY PROCESSOR_DESCRIPTION)
+
+ message(STATUS "-------------------------------------")
+ message(STATUS " Project: ${PROJECT_NAME}")
+ message(STATUS " C++ ${CMAKE_CXX_STANDARD}")
+ message(STATUS "-------------------------------------")
+ message(STATUS " ${HOST}")
+ message(STATUS " ${OSN}: ${OS_VERSION}")
+ message(STATUS " ${PROC}")
+ message(STATUS "-------------------------------------")
+
+ set(BUILD_EXAMPLES ON)
+ set(BUILD_GTESTS ON)
+else()
+ message(STATUS "-> ${PROJECT_NAME} is submodule")
+ set(BUILD_EXAMPLES OFF)
+ set(BUILD_GTESTS OFF)
+endif()
+
+add_library(${PROJECT_NAME}
+ INTERFACE
+ # src/quaternion.cpp
+ # src/quaternion_filters.cpp
+)
+target_include_directories(${PROJECT_NAME} INTERFACE src/)
+# target_include_directories(${PROJECT_NAME}
+# INTERFACE
+# src/
+# )
+
+# Examples -----------------------------------------------------------
+message(STATUS "Building ${PROJECT_NAME} examples is ${BUILD_EXAMPLES}")
+if(BUILD_EXAMPLES)
+ add_subdirectory(examples)
+endif()
+
+# Tests --------------------------------------------------------------
+message(STATUS "Building ${PROJECT_NAME} gtests is ${BUILD_GTESTS}")
+if(BUILD_GTESTS)
+ add_subdirectory(gtests)
+endif()

cpp/arduino/test/test.ino

@@ -0,0 +1,10 @@
+#include <squaternion.hpp>
+
+void setup() {}
+
+void loop() {
+ Quaternion q;
+ Quaternion qq(1,2,3,4);
+ qq.normalize();
+ q = 2.0*qq/2.0;
+}

cpp/examples/CMakeLists.txt

@@ -0,0 +1,13 @@
+list(APPEND ex
+ simple.cpp
+)
+
+# message(STATUS "Examples ----------------------")
+foreach(src ${ex})
+ get_filename_component(name ${src} NAME_WE)
+ # message(STATUS " -> ${name}")
+ add_executable(${name} ${src})
+ target_link_libraries(${name} squaternion)
+ target_include_directories(${name} PUBLIC ../src)
+ # add_test(NAME ${name} COMMAND ${name})
+endforeach()

cpp/examples/simple.cpp

@@ -0,0 +1,46 @@
+#include <cstdio>
+#include <iostream>
+#include <squaternion.hpp>
+
+using namespace std;
+
+// std::ostream &operator<<(std::ostream &os, const Quaternion &q) {
+// return os << q.to_str();
+// }
+
+int main() {
+ Quaternion q(1, 2, 3, 4);
+ q.normalize();
+ cout << "q: " << q.to_str() << endl;
+
+ string s = q.to_str(); // need to save string to avoid dangling pointer
+ printf("%s\n", s.c_str());
+
+ Quaternion bad(0, 0, 0, 0);
+ cout << "Bad: " << bad << endl;
+
+ int err = bad.normalize();
+
+ if (err) {
+ printf("*** division by zero for Quaternion bad ***\n");
+ }
+ else {
+ cout << "Normalized bad: " << bad << " - how?" << endl;
+ }
+
+ double r, p, y;
+ q.to_euler(&r, &p, &y, true); // get degrees
+ printf("to_euler: %lf %lf %lf\n", r, p, y);
+
+ Quaternion qq = Quaternion::from_euler(10, 20, 30, true); // from degrees
+ cout << "from_euler: " << qq.to_str() << endl;
+
+ Quaternion qdot = 0.5 * q * Quaternion(0, 0.1, -0.1, 0); // qdot - 1/2 * q * w
+ cout << "qdot: " << qdot << endl;
+
+ Quaternion a(1, 2, 3, 4);
+ Quaternion b(5, 6, 7, 8);
+ cout << "a*b: " << a * b << endl;
+
+ return 0;
+}

cpp/format-code.sh

@@ -0,0 +1,3 @@
+#!/bin/zsh
+
+clang-format -style=file:../dotfiles/clang-format.yml -i src/**/*.hpp examples/**/*.cpp gtests/**/*.cpp

cpp/gtests/CMakeLists.txt

@@ -0,0 +1,35 @@
+include(FetchContent)
+
+# GTest -----------------
+FetchContent_Declare(gtest
+ GIT_REPOSITORY "https://github.com/google/googletest"
+ GIT_TAG "origin/main"
+ SOURCE_DIR "${CMAKE_BINARY_DIR}/_deps/gtest"
+)
+# set(EXAMPLES OFF CACHE INTERNAL "Dont build examples")
+FetchContent_MakeAvailable(gtest)
+if(gtest_POPULATED)
+ message(STATUS "=> Found gtest")
+else()
+ message(STATUS "*** Didn't find gtest")
+endif()
+
+#----------------------------
+enable_testing()
+
+list(APPEND gci-gtests
+ main-gtest
+)
+
+message(STATUS "gci::gTests ----------------------")
+foreach(name ${gci-gtests})
+ # message(STATUS " -> ${name}")
+ add_executable(${name} ${name}.cpp)
+ target_link_libraries(${name}
+ GTest::gtest_main
+ ${PROJECT_NAME})
+ add_test(NAME ${name} COMMAND ${name})
+endforeach()
+
+include(GoogleTest)
+gtest_discover_tests(${gci-gtests})

cpp/gtests/main-gtest.cpp

@@ -0,0 +1,40 @@
+#include <gtest/gtest.h>
+#include <squaternion.hpp>
+
+// // Demonstrate some basic assertions.
+// TEST(squaternion, dummy) {
+// // Expect two strings not to be equal.
+// EXPECT_STRNE("hello", "world");
+// // Expect equality.
+// EXPECT_EQ(7 * 6, 42);
+// }
+
+TEST(squaternion, create) {
+ Quaternion q;
+ EXPECT_TRUE(q.w == 1.0);
+ EXPECT_TRUE(q.x + q.y + q.z == 0.0);
+
+ // this will never (?) be arduino?
+ // #ifdef ARDUINO
+ // EXPECT_TRUE(sizeof(q.w) == sizeof(float));
+ // #else
+ EXPECT_TRUE(sizeof(q.w) == sizeof(double));
+ // #endif
+
+ Quaternion qq(1, 2, 3, 4);
+ EXPECT_EQ(qq.w, 1.0);
+ EXPECT_EQ(qq.x, 2.0);
+ EXPECT_EQ(qq.y, 3.0);
+ EXPECT_EQ(qq.z, 4.0);
+}
+
+TEST(squaternion, math) {
+ Quaternion q;
+ q = q * 2.0;
+ EXPECT_EQ(q.w, 2.0);
+
+ Quaternion qq(1, 2, 3, 4);
+ qq.normalize();
+ q = 2.0 * qq / 2.0;
+ ASSERT_DOUBLE_EQ(q.magnitude(), 1.0);
+}

cpp/keywords.txt

@@ -0,0 +1,22 @@
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Quaternion KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+normalize KEYWORD2
+conjugate KEYWORD2
+to_euler KEYWORD2
+from_euler KEYWORD2
+to_str KEYWORD2
+rotate KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+deg2rad LITERAL1
+rad2deg LITERAL1

cpp/library.properties

@@ -0,0 +1,9 @@
+name=squaternion
+version=2022.08.20
+author=Kevin Walchko
+maintainer=Kevin Walchko
+sentence=A simple Quaternions library modelled after a python library called squaternion
+paragraph=Quaternions
+category=Data Processing
+url=https://github.com/walchko
+architectures=*

cpp/readme.md

@@ -0,0 +1,54 @@
+![](https://upload.wikimedia.org/wikipedia/commons/thumb/d/d5/Inscription_on_Broom_Bridge_%28Dublin%29_regarding_the_discovery_of_Quaternions_multiplication_by_Sir_William_Rowan_Hamilton.jpg/800px-Inscription_on_Broom_Bridge_%28Dublin%29_regarding_the_discovery_of_Quaternions_multiplication_by_Sir_William_Rowan_Hamilton.jpg)
+
+# squaternion.cpp
+
+This is a c++ version of my python `squaternion` library.
+
+## Install Arduino
+
+You can either put it in your `Documents/Arduino/libraries` folder or make a symbolic link from where you keep the folder to where the Arduino IDE expects it to be. I store all of my github repo's in a `github` folder, so I know where they are.
+
+```bash
+ln -s <where you keep it> ~/Documents/Arduino/libraries
+```
+
+## Install Computer
+
+You can use standard `cmake` commands to use this.
+
+```bash
+cd squaternion.cpp
+mkdir build
+cd build
+cmake ..
+build
+```
+
+## Todo
+
+- [ ] Make a CPM
+- [x] Should I make this header only? It is pretty simple
+- [ ] Add `gtest` tests like `python` version
+- [x] Add a simple Arduino compile test
+
+# MIT License
+
+**Copyright (c) 2022 Mom's Friendly Robot Company**
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.