pax_global_header00006660000000000000000000000064146561147500014523gustar00rootroot0000000000000052 comment=c49fec8150e62821d9be7e2a3ac49db75bf7bb92 artivis-manif-dbd8181/000077500000000000000000000000001465611475000147115ustar00rootroot00000000000000artivis-manif-dbd8181/.codecov.yml000066400000000000000000000003361465611475000171360ustar00rootroot00000000000000codecov: notify: require_ci_to_pass: yes coverage: precision: 2 round: down range: "70...100" comment: layout: "header, diff" behavior: default require_changes: false ignore: - "external" - "test" artivis-manif-dbd8181/.codedocs000066400000000000000000000000271465611475000164740ustar00rootroot00000000000000DOXYFILE=docs/Doxyfile artivis-manif-dbd8181/.github/000077500000000000000000000000001465611475000162515ustar00rootroot00000000000000artivis-manif-dbd8181/.github/workflows/000077500000000000000000000000001465611475000203065ustar00rootroot00000000000000artivis-manif-dbd8181/.github/workflows/ci.yml000066400000000000000000000237101465611475000214270ustar00rootroot00000000000000name: build-and-test on: push: branches: - devel - master pull_request: branches: - devel workflow_dispatch: env: CTEST_OUTPUT_ON_FAILURE: 1 jobs: build-ubuntu: runs-on: ${{ matrix.os }} strategy: fail-fast: false matrix: os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04] build_type: [Release, Debug] compiler: [ { "cc": "gcc", "cxx": "g++" }, { "cc": "clang", "cxx": "clang++" } ] env: CC: ${{ matrix.compiler.cc }} CXX: ${{ matrix.compiler.cxx }} steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libeigen3-dev mkdir ${{runner.workspace}}/build - name: Display config run: | echo "OS:" && $RUNNER_OS && echo "" echo "Compiler:" && $CC && $CXX && echo "" echo "Eigen:" && apt-cache policy libeigen3-dev | grep Installed - name: Configure working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test build-mac: runs-on: ${{ matrix.os }} strategy: matrix: os: [macos-12, macos-13, macos-14] steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | brew install eigen mkdir ${{runner.workspace}}/build - name: Display config run: | echo "OS:" && $RUNNER_OS && echo "" echo "Compiler:" && clang -v && echo "" echo "Eigen:" && brew info eigen - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test build-win: runs-on: ${{ matrix.combinations.os }} strategy: matrix: combinations: [ { "os": "windows-2019", "cmake_generator": "Visual Studio 16 2019" }, { "os": "windows-2022", "cmake_generator": "Visual Studio 17 2022" } ] steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | vcpkg install eigen3:x64-windows cd ${{runner.workspace}} mkdir build - name: Display config shell: bash run: | echo "OS:" && $RUNNER_OS && echo "" echo "Eigen:" && vcpkg list - name: Configure CMake shell: bash working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -G"${{ matrix.combinations.cmake_generator }}" -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: cmake --build . --config Release - name: Test working-directory: ${{runner.workspace}}/build run: ctest . -C Release cppcheck: needs: [build-ubuntu] runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libunwind-dev sudo apt install -y libceres-dev cppcheck mkdir ${{runner.workspace}}/build - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DENABLE_CPPCHECK=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make run-cppcheck valgrind: needs: [build-ubuntu] runs-on: ubuntu-latest steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libunwind-dev sudo apt install -y libceres-dev valgrind mkdir ${{runner.workspace}}/build - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DENABLE_VALGRIND=ON -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: ctest -T memcheck codecov: needs: [build-ubuntu] runs-on: ubuntu-latest steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libunwind-dev sudo apt install -y libceres-dev mkdir ${{runner.workspace}}/build - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DENABLE_COVERAGE=ON -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test - name: Upload coverage working-directory: ${{runner.workspace}}/build run: bash <(curl -s https://codecov.io/bash) -R $GITHUB_WORKSPACE ceres: needs: [build-ubuntu] # runs-on: ubuntu-latest runs-on: ${{ matrix.os }} strategy: fail-fast: false # Test for both Ceres pre/post 2.2 matrix: os: [ubuntu-22.04, ubuntu-24.04] steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libunwind-dev sudo apt install -y libceres-dev mkdir ${{runner.workspace}}/build - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test autodiff: needs: [build-ubuntu] runs-on: ubuntu-latest steps: - name: Checkout uses: actions/checkout@v4 - name: Setup run: | sudo apt update sudo apt install -y libeigen3-dev mkdir ${{runner.workspace}}/build # Install autodiff - name: Checkout autodiff uses: actions/checkout@v3 with: repository: autodiff/autodiff ref: main path: 'autodiff' - name: Setup autodiff run: mkdir ${{runner.workspace}}/build_autodiff - name: Configure CMake autodiff working-directory: ${{runner.workspace}}/build_autodiff run: cmake $GITHUB_WORKSPACE/autodiff -DAUTODIFF_BUILD_TESTS=OFF -DAUTODIFF_BUILD_PYTHON=OFF -DAUTODIFF_BUILD_EXAMPLES=OFF -DAUTODIFF_BUILD_DOCS=OFF - name: Install autodiff working-directory: ${{runner.workspace}}/build_autodiff run: sudo cmake --build . --target install # Build/test manif autodiff - name: Configure CMake working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test pybind11-pip: needs: [build-ubuntu, build-mac] strategy: fail-fast: false matrix: platform: [macos-latest, ubuntu-latest] #windows-latest, python-version: ['3.8', '3.9', '3.10', '3.12'] runs-on: ${{ matrix.platform }} steps: - name: Checkout uses: actions/checkout@v4 - run: git fetch --prune --unshallow - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v2 with: python-version: ${{ matrix.python-version }} - name: Setup apt if: runner.os == 'Linux' run: | sudo apt update sudo apt install -y libeigen3-dev - name: Setup brew if: runner.os == 'macOS' run: brew install eigen - name: Setup run: | python -m pip install --upgrade pip python -m pip install build - name: Build run: python -m pip install -v .[testing] - name: Test run: python -m pytest pybind11-cmake: needs: [build-ubuntu, build-mac] strategy: matrix: platform: [ubuntu-20.04, ubuntu-22.04, ubuntu-latest] runs-on: ${{ matrix.platform }} steps: - name: Checkout uses: actions/checkout@v4 - run: git fetch --prune --unshallow # - name: Set up Python ${{ matrix.python-version }} # uses: actions/setup-python@v2 # with: # python-version: ${{ matrix.python-version }} - name: Setup apt run: | sudo apt update sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy mkdir ${{runner.workspace}}/build - name: Configure working-directory: ${{runner.workspace}}/build run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release - name: Build working-directory: ${{runner.workspace}}/build run: make -j2 - name: Test working-directory: ${{runner.workspace}}/build run: make test - name: Install working-directory: ${{runner.workspace}}/build run: sudo make install - name: Test Import run: python3 -c 'import manifpy' artivis-manif-dbd8181/.github/workflows/docs.yml000066400000000000000000000056571465611475000217760ustar00rootroot00000000000000name: documentation on: push: branches: devel pull_request: branches: - devel workflow_dispatch: jobs: # There is no way as of now to move artifacts around jobs and # across workflows. So we build the Python bindings here too. build: runs-on: ubuntu-20.04 steps: # Build manifpy - name: Checkout uses: actions/checkout@v2 - name: Set up Python uses: actions/setup-python@v2 with: python-version: 3.6 - name: Setup apt run: | sudo apt update sudo apt install -y libeigen3-dev - name: Setup run: | python -m pip install --upgrade pip python -m pip install build - name: Build run: python -m pip install -v . # build: # runs-on: ubuntu-20.04 # needs: [pybind11] # steps: # - name: Checkout # uses: actions/checkout@v2 # - name: Set up Python # uses: actions/setup-python@v2 # Build documentation website - name: Fetch apt deps run: | sudo apt update sudo apt install -y libeigen3-dev flex bison graphicsmagick-imagemagick-compat - name: Make install Doxygen run: | git clone --depth 1 --branch Release_1_9_1 https://github.com/doxygen/doxygen.git cd doxygen && mkdir build && cd build cmake -G "Unix Makefiles" .. sudo make install - name: Fetch Python deps run: python -m pip install jinja2 Pygments docutils - name: Fetch m.css uses: actions/checkout@v3 with: repository: mosra/m.css path: docs/m.css - name: Build Python docs working-directory: ${{runner.workspace}}/manif/docs run: python m.css/documentation/python.py conf_python.py - name: Build C++ docs working-directory: ${{runner.workspace}}/manif/docs run: | mkdir -p site/cpp python m.css/documentation/doxygen.py conf_cpp.py - name: Build site working-directory: ${{runner.workspace}}/manif/docs run: python m.css/documentation/doxygen.py conf.py - name: Latex equation white color working-directory: ${{runner.workspace}}/manif/docs run: ./fix_latex_color.sh - name: Archive artifacts uses: actions/upload-artifact@v2 with: name: site path: docs/site deploy: runs-on: ubuntu-20.04 needs: [build] # todo: deploy if new tag/release if: | github.repository == 'artivis/manif' && github.event_name == 'push' && github.ref == 'refs/heads/devel' steps: - name: Download artifacts uses: actions/download-artifact@v2 with: name: site path: site - name: Deploy uses: JamesIves/github-pages-deploy-action@3.7.1 with: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} BRANCH: gh-pages FOLDER: site artivis-manif-dbd8181/.github/workflows/release.yml000066400000000000000000000032461465611475000224560ustar00rootroot00000000000000name: release on: push: tags: - '*' pull_request: branches: - devel # master only when ready - master workflow_dispatch: jobs: build-sdist: runs-on: ubuntu-latest steps: - name: Checkout uses: actions/checkout@v2 - run: git fetch --prune --unshallow - name: Install Python uses: actions/setup-python@v2 with: python-version: 3.7 - name: Setup apt run: | sudo apt update sudo apt install -y libeigen3-dev - name: Setup run: | python3 -m pip install --upgrade pip pip3 install build - name: Build sdist run: python3 -m build --sdist -o dist/ - name: Build wheel run: python3 -m build --wheel -o dist/ - name: Upload artifacts uses: actions/upload-artifact@v2 with: name: dist path: dist/* # path: | # path/*.whl # path/*.tar.gz upload_pypi: needs: build-sdist runs-on: ubuntu-latest steps: - uses: actions/download-artifact@v2 with: name: dist path: dist - name: Inspect dist folder run: ls -lah dist/ # @todo: see https://github.com/diegoferigo/manif/pull/1#discussion_r668531581 # - uses: pypa/gh-action-pypi-publish@master # if: | # github.repository == 'artivis/manif' && # ((github.event_name == 'release' && github.event.action == 'published') || # (github.event_name == 'push' && github.ref == 'refs/heads/main')) # with: # user: __token__ # password: ${{ secrets.PYPI_TOKEN }} artivis-manif-dbd8181/.gitignore000066400000000000000000000002571465611475000167050ustar00rootroot00000000000000*.user .cproject .project .settings .tags build* docs/xml docs/html docs/site docs/m.css *doxygen_warnings.txt *.cache .vscode *.egg-info *.so *__pycache__ .pytest_cache dist artivis-manif-dbd8181/CHANGELOG.rst000066400000000000000000000333271465611475000167420ustar00rootroot00000000000000^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package manif ^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.0.5 (2024-08-11) ------------------ * Merge pull request `#304 `_ from artivis/devel Preparing release * Merge pull request `#303 `_ from HenryLeC/devel Remove extra semicolons after macros in Bundle.h * Merge pull request `#302 `_ from artivis/feat/vee Add vee * Merge pull request `#297 `_ from artivis/fix/ci-checkout Update CI checkout to v4 * Merge pull request `#295 `_ from mattalvarado/feature/update_to_ceres_manifold Support Ceres 2.2+ * Merge pull request `#1 `_ from artivis/feature/ceres-2.2 Support Ceres both pre/post 2.2 * Merge pull request `#289 `_ from artivis/feat/sgal3 Add SGal(3) * Merge pull request `#284 `_ from artivis/fix/cast Fix casting float->double * Merge pull request `#286 `_ from artivis/fix/typo Fix typo in cheat sheet * Merge pull request `#280 `_ from artivis/fix/test_cmake Set test target default cxx standard iif no glob set * Merge pull request `#275 `_ from traversaro/fix274 Support read C++ standard via CMAKE_CXX_STANDARD when compiling Python bindings * Merge pull request `#259 `_ from traversaro/patch-6 Permit to specify Python package install dir with MANIFPY_PKGDIR * Merge pull request `#271 `_ from willat343/devel replaced ::Constant(0) with ::Zero() due to ceres::Jet compile error * Merge pull request `#272 `_ from artivis/fix/ci Fix/ci * Merge pull request `#250 `_ from artivis/feature/autodiff enable tests for autodiff real type * Merge pull request `#257 `_ from artivis/ci/macos Deprecate CI macos-10.15 & add macos-11/12 * Merge pull request `#255 `_ from artivis/fix/deprecate_ci Deprecate windows-2016 ci * Merge pull request `#240 `_ from artivis/fix/tests Fix tests randomness * Merge pull request `#253 `_ from artivis/fix/example_py fix se2_localization.py * Merge pull request `#252 `_ from artivis/ci/win22 add windows 2022 to ci * Merge pull request `#251 `_ from artivis/feature/22.04-ci Ubuntu 22.04 in CI * Merge pull request `#245 `_ from artivis/fix/doc-ci fix m.css checkout * Merge pull request `#248 `_ from traversaro/patch-5 Add missing include in impl/macro.h header * Merge pull request `#244 `_ from traversaro/patch-4 Always use \n as new line when generating files with CMake * Merge pull request `#243 `_ from traversaro/patch-3 Add installation of pip metadata files for when manifpy python bindings are installed only via CMake * Merge pull request `#237 `_ from artivis/feature/autodiff Add support for autodiff * Merge pull request `#234 `_ from artivis/pettni/devel Add Bundle and BundleTangent types * Merge pull request `#236 `_ from traversaro/patch-2 Fix find_package(manif) if tl-optional_FOUND is TRUE * Merge pull request `#235 `_ from artivis/fix/doc_ci Fix doc generation in CI * Merge pull request `#233 `_ from diegoferigo/feature/setuptools Update CMake and setuptools logic for the Python bindings * Merge pull request `#1 `_ from artivis/feature/python_install Python install fixes * Contributors: Diego Ferigo, Jeremie Deray, Matt Alvarado 0.0.4 (2021-06-14) ------------------ * Merge pull request `#231 `_ from artivis/devel [sync] Prepare release 0.0.4 * Add the possibility to use a system wide installation of tl-optional (`#207 `_) * Fix typo in tl-optional folder name * Add the possibility to use a system-wide installation of tl-optional * Bump tl-optional to the latest version (1.0.x) * Update CMakeLists.txt * Merge pull request `#227 `_ from artivis/feature/benchmarking Add benchmarking & some opti * list some new projects using manif * run tests in debug & release on ubuntu * fix test avg * rm unnecessary cmake warning suppression * fix some warnings * add MANIF_UNUSED_VARIABLE * add se_2_3 rjacinv/ljacinv * add se2 rjacinv/ljacinv * SO3TangentBase rm temp var * se_2_3 adj no alias * se_2_3 act jac no alias * se_2_3 isometry small opti * se_2_3 tan avoid temp var * so3 act noalias * so3 compose avoid temp var * so3 log jac small opti * so3 exp jac small opti * so2 act noalias * se3 adj small opti * lipstick * review lminus jac logic * add benchmarking * Merge pull request `#224 `_ from artivis/fix/tests_at_around_I Run tests at/around identity * fix SO3 ljac/ljacinv small angle * remove eps_s * run tests at & around identity * factorize some test-related code * Merge pull request `#222 `_ from artivis/fix/se_2_3_tan_coeffs Fix function call * small fix * add video link * Merge pull request `#219 `_ from artivis/feature/install_gtest_helpers Install gtest helpers * rename & install gtest helpers * Merge pull request `#214 `_ from artivis/fix/project_version Set project version * Merge pull request `#217 `_ from artivis/fix/float_support Fixes for float support * ignore build* folders * test SO3 for float * relax tests for float * specialize Constants for float * cast randPointInBall to appropriate scalar type * Use Eigen::Quaternion::unitRandom where possible * bump CMake version & set project version * Merge pull request `#211 `_ from GiulioRomualdi/pybind11 [manifpy] General improvements in SO3 and SE3 objects * Update python bindings so3 tests * Update python bindings se3 tests * Implement quat() methods in SO3 python bindings * Avoid to use Eigen::Vector4d in bindings_so3.cpp * Apply changes in bindings_se3.cpp after the review * Implement TEST_SO3_SET_QUATERNION * Implement SO3Base::quat() methods * Update test_so3.py accordingly to 69d4c42547e34fdf17b4eef7fc1d2a0f88736e08 * Update test_se3.py accordingly to 3bd2cd2adb8e485df07aab522e595e9959b902ec and 0e07ab58a4854657ec7566cc0a5121b088629aae * Add translation and quat properties in SE3 python bindings * Add the possibility to construct a SE3 from two vectors in python bindings * Add the possibility to construct a SO3 from a vector in python bindings * Merge pull request `#213 `_ from artivis/fix/cppcheck_1.90 Fix/cppcheck 1.90 * disable some warnings/errors picked up by cppcheck 1.90 * fix some warnings picked up by cppcheck 1.90 * Add GitHub Actions workflow for Visual Studio (`#206 `_) * Add GitHub Actions workflow for Visual Studio * Fix assert hint closes `#204 `_ * use latest doxygen release in doc CI * use latest doxygen release in doc CI * Fix doc deploy * Misc small doc fixes (`#202 `_) * fix python doc build * fix links in readme * cleanup comments * fix latex rendering - no idea why tho * Merge pull request `#201 `_ from artivis/feature/python Add Python bindings * new doc site to include Python * add Python CI job * add Python examples * add Python tests * add Python wrappers * Merge pull request `#195 `_ from artivis/fix/ceres_tests Adding Ceres::Jet unit tests * Merge pull request `#200 `_ from artivis/fix/misc Miscellaneous small fixes * Add SE2 UKF-M example (`#176 `_) * add se2 ukfm example * add demo to README Co-authored-by: Joan Solà * Disambiguate v/w/a -> lin/ang/lin2 (`#190 `_) * disambiguate v/w/a -> lin/ang/lin2 * doc fix * add jac tests rplus/lplus/act * add jac test log/compose/between * add missing files * wip Ceres::Jet unit tests * specialize traitscast for Rn * cosmetic * delete .travis * tmp disable macos-11 CI * examples: init rand and reduce noise * fix optional ret val * fix tangent constexpr decl * fix group ** constness * Merge pull request `#189 `_ from artivis/fix/inner_weight Disambiguate w -> innerWeights * disambiguate w -> innerWeights * Contributors: Giulio Romualdi, Jeremie Deray, Silvio Traversaro, artivis 0.0.3 (2021-01-17) ------------------ * Add traits `is_ad` (`#199 `_) * add traits is_ad & ceres spe * Merge pull request `#194 `_ from pettni/minor_fixes Minor fixes: use known inverses, fix ambiguous ternary types * Merge pull request `#188 `_ from artivis/fix/liegroup_act Fix LieGroupBase::act signature * Fix ambiguous ternary type * Use explicit inverses when known * fix LieGroupBase::act signature * Merge pull request `#183 `_ from artivis/fix/181 fix compilation in release * Merge pull request `#186 `_ from artivis/fix/const_data_ptr Fix missing return in const data() * Fix SO3/SE3Tangent random (`#182 `_) * fix SO3/SE3Tangent random * fix exp.log test * fix compilation in release closes `#181 `_ * fix missing return in const data() * Merge pull request `#147 `_ from artivis/fix/review_copy_constr_assign Review copy construstor/assignment * fix some cppcheck * fix use of MANIF_ASSERT * add move semantic * add macro MANIF_MOVE_NOEXCEPT * review copy constr/assign se_2_3 * Merge branch 'devel' into fix/review_copy_constr_assign * Add SE_2(3) Lie group (`#154 `_) * [SE(3)] Add setters for translation and rotation (`#166 `_) * Merge pull request `#169 `_ from GiulioRomualdi/patch-3 Bugfix in SE3TangentBase::asSO3() function * Fix undesired compile options when gcc is used (`#157 `_) * Avoid to set compile options for gcc in the main CMakeLists.txt file * Set the required compile flags in the examples/CMakeLists.txt * Fix Windows compilation (`#149 `_) * Fix Windows compilation * Add operator scalar * tangent (`#153 `_) * cleanup eigen includes * review copy constr/assign * lt::optional explicit base constructor call * Merge pull request `#138 `_ from artivis/feature/manif_assert Add MANIF_ASSERT * Merge pull request `#137 `_ from artivis/feature/public_non_const_coeffs Add public non-const coeffs * fix MANIF_ASSERT tests * add MANIF_ASSERT * add public non-const coeffs * Merge pull request `#131 `_ from artivis/feature/cheat-sheet Add theory cheat sheets * add theory cheat sheets * Merge pull request `#115 `_ from artivis/fix/mem_alignment - Fix memory alignment issues - expand CI with cppcheck & valgrind * Fix dependencies format. Fix typo in Lie name * RandomEvaluatorImpl use proper return type * add traits Base to all Map * fix ceres-related tests memory alignment issues * use memory alignment macro in all classes * Merge pull request `#109 `_ from artivis/feature/rn Add trivial groups Rn * add MANIF_MAKE_ALIGNED_OPERATOR_NEW_COND* macros * MANIF\_*_TYPEDEF closer to abstract API * GeneratorEvaluetor::run int -> unsigned int * isApprox default eps * do not install package manifest * JOSS paper (`#30 `_) Add JOSS paper. Co-authored-by: Joan Solà * fix Vector typedef and add small test (`#118 `_) fix `#117 `_ * Contributors: Daniel S. Katz, Giulio Romualdi, Jeremie Deray, Joan Solà, Petter Nilsson, Prashanth Ramadoss, artivis * JOSS paper (`#30 `_) Add JOSS paper. Co-authored-by: Joan Solà * fix Vector typedef and add small test (`#118 `_) fix `#117 `_ * Contributors: Jeremie Deray artivis-manif-dbd8181/CMakeLists.txt000066400000000000000000000245641465611475000174640ustar00rootroot00000000000000cmake_minimum_required(VERSION 3.5.1) cmake_policy(SET CMP0048 NEW) project(manif VERSION 0.0.5 LANGUAGES CXX) # Get the project name in capital letters # for the lib namespace string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_CAPS) # Check that the compoiler has c++11 support # Crash otherwise. if(NOT MSVC) include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) if(COMPILER_SUPPORTS_CXX11) message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.") else() message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} " "has no C++11 support. Please use a different C++ compiler.") endif() endif() # Finding Eigen is somewhat complicated. # First we look for the Eigen3 cmake module # provided by the libeigen3-dev on newer Ubuntu. If that fails, then we # fall-back to the version provided in the cmake/modules. find_package(Eigen3 QUIET) if(NOT EIGEN3_FOUND) list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) find_package(Eigen3 REQUIRED) endif() # Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR, # not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former. if(NOT EIGEN3_INCLUDE_DIRS) set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) endif() # Necessary for Ubuntu 16.04's god-awful FindEigen3.cmake. if((NOT (DEFINED EIGEN3_VERSION)) AND (DEFINED EIGEN3_VERSION_STRING)) set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING}) endif() if(${EIGEN3_VERSION} VERSION_EQUAL "3.3.6") message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS}," "but this version has a [bug](http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1643)") elseif(${EIGEN3_VERSION} VERSION_LESS "3.3.8") message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS}. " "Beware that the move semantic has a bug and resolves to a simple copy.") endif() # Options. Turn on with 'cmake -DBUILD_TESTING=ON'. # catkin build manif --cmake-args -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON option(BUILD_TESTING "Build all tests." OFF) option(ENABLE_CPPCHECK "Enable cppcheck." OFF) option(BUILD_EXAMPLES "Build all examples." OFF) option(BUILD_BENCHMARKING "Build all benchmarks." OFF) option(BUILD_PYTHON_BINDINGS "Build Python bindings with pybind11." OFF) option(BUILD_TESTING_PYTHON "Build Python tests only." OFF) if (BUILD_PYTHON_BINDINGS) # In theory this is not required, as CMake selects the appropriate C++ standard # However, as long as we support pybind11 < 2.6 we need to make sure that CMAKE_CXX_STANDARD # is defined before find_package(pybind11 REQUIRED) to avoid that the CMake standard # command line option is set by pybind11 via the PYBIND11_CPP_STANDARD variable, in a way that could # interfere with CMake, see https://github.com/pybind/pybind11/blob/v2.4.3/tools/pybind11Tools.cmake#L21 if(NOT DEFINED CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 11) endif() find_package(pybind11 REQUIRED) add_subdirectory(python) endif() ########### ## Build ## ########### add_library(${PROJECT_NAME} INTERFACE) # @todo export c++11 dependency # @note A per-feature basis does # not seems to work # CMake 3.8 ... #set_target_properties(${PROJECT_NAME} PROPERTIES # INTERFACE_COMPILE_FEATURES cxx_std_11 #) option(USE_SYSTEM_WIDE_TL_OPTIONAL "Use a system wide installation of tl-optional" OFF) find_package(tl-optional 1.0.0 QUIET) if(USE_SYSTEM_WIDE_TL_OPTIONAL AND NOT tl-optional_FOUND) message(FATAL_ERROR "Could not find required package tl-optional") endif() target_include_directories(${PROJECT_NAME} INTERFACE "$>:;${PROJECT_SOURCE_DIR}/external/tl>>" "$" ) target_link_libraries(${PROJECT_NAME} INTERFACE "$<$:tl::optional>") # Add Eigen interface dependency, depending on available cmake info if(TARGET Eigen3::Eigen) target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen) set(Eigen3_DEPENDENCY "find_dependency(Eigen3 ${Eigen3_VERSION})") else(TARGET Eigen3::Eigen) target_include_directories(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIRS}) endif(TARGET Eigen3::Eigen) # Add tl-optional interface dependency if enabled if(tl-optional_FOUND) set(tl-optional_DEPENDENCY "find_dependency(tl-optional)") else() set(tl-optional_DEPENDENCY "") endif() if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") target_compile_options(${PROJECT_NAME} INTERFACE -ftemplate-depth=512) elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") target_compile_options(${PROJECT_NAME} INTERFACE /bigobj) endif() ############# ## Install ## ############# include(CMakePackageConfigHelpers) include(GNUInstallDirs) set(config_install_dir "share/${PROJECT_NAME}/cmake") set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated") # Targets: install( TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets INCLUDES DESTINATION include ) install( EXPORT ${PROJECT_NAME}Targets NAMESPACE ${PROJECT_NAME_CAPS}:: DESTINATION "${config_install_dir}" ) export( TARGETS ${PROJECT_NAME} NAMESPACE ${PROJECT_NAME_CAPS}:: FILE ${PROJECT_NAME}Targets.cmake ) export(PACKAGE ${PROJECT_NAME}) ## Configuration # configure_package_config_file( "${PROJECT_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake.in" "${generated_dir}/${PROJECT_NAME}Config.cmake" INSTALL_DESTINATION "${config_install_dir}" ) # Configure 'ConfigVersion.cmake' write_basic_package_version_file( "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake" VERSION ${PROJECT_VERSION} COMPATIBILITY AnyNewerVersion ARCH_INDEPENDENT ) # Config install( FILES "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake" "${generated_dir}/${PROJECT_NAME}Config.cmake" DESTINATION "${config_install_dir}" ) # Headers: # if tl-optional is not found manif will install its own version if(NOT tl-optional_FOUND) install( FILES "${PROJECT_SOURCE_DIR}/external/tl/tl/optional.hpp" DESTINATION include/tl ) endif() install( DIRECTORY "${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}" DESTINATION include ) # Test utils install( FILES "${PROJECT_SOURCE_DIR}/test/gtest_eigen_utils.h" "${PROJECT_SOURCE_DIR}/test/gtest_manif_utils.h" DESTINATION "include/${PROJECT_NAME}/gtest" ) ############## ## Examples ## ############## if(BUILD_EXAMPLES) add_subdirectory(examples) endif(BUILD_EXAMPLES) ############# ## Testing ## ############# # ------------------------------------------------------------------------------ # Coverage # ------------------------------------------------------------------------------ if(ENABLE_COVERAGE) add_definitions(-DMANIF_COVERAGE_ENABLED) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g ") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftest-coverage") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage") endif() # ------------------------------------------------------------------------------ # CppCheck # ------------------------------------------------------------------------------ if(ENABLE_CPPCHECK) # Find CppCheck executable find_program(CPPCHECK "cppcheck") if(CPPCHECK) # Set export commands on # set(CMAKE_EXPORT_COMPILE_COMMANDS ON) list(APPEND CPPCHECK_ARGS --enable=all --std=c++11 # --verbose --quiet # --check-config --xml-version=2 --language=c++ # Comment the line below to run cppcheck-html --error-exitcode=1 --inline-suppr --suppress=*:*googletest-* --suppress=missingIncludeSystem --suppress=missingInclude --suppress=unmatchedSuppression:* --suppress=syntaxError:*tangent_base.h:370 --suppress=unknownMacro:*test/common_tester.h --suppress=unknownMacro:*test/ceres/ceres_test_utils.h --suppress=constStatement:*examples* --suppress=constStatement:*gtest_misc.cpp:35 --suppress=constStatement:*gtest_misc.cpp:43 --suppress=unreadVariable:*gtest_se2_ceres_autodiff.cpp:101 --suppress=unreadVariable:*bundle_sam.cpp:94 --suppress=unreadVariable:*bundle_sam.cpp:124 # Uncomment the line below to run cppcheck-html # --output-file=${CMAKE_BINARY_DIR}/cppcheck_results.xml ${CMAKE_SOURCE_DIR}/include ${CMAKE_SOURCE_DIR}/examples ${CMAKE_SOURCE_DIR}/test ) add_custom_target(run-cppcheck COMMAND ${CPPCHECK} ${CPPCHECK_ARGS} COMMENT "Generate cppcheck report for the project" ) find_program(CPPCHECK_HTML "cppcheck-htmlreport") if(CPPCHECK_HTML) add_custom_target(cppcheck-html COMMAND ${CPPCHECK_HTML} --title=${CMAKE_PROJECT_NAME} --file=${CMAKE_BINARY_DIR}/cppcheck_results.xml --report-dir=${CMAKE_BINARY_DIR}/cppcheck_results --source-dir=${CMAKE_SOURCE_DIR} COMMENT "Convert cppcheck report to HTML output" ) ADD_DEPENDENCIES(cppcheck-html run-cppcheck) endif() endif() endif() # ------------------------------------------------------------------------------ # Valgrind # ------------------------------------------------------------------------------ if(ENABLE_VALGRIND) # ctest -T memcheck include(CTest) set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --leak-check=full") set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --track-fds=yes") set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --trace-children=yes") set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --show-reachable=yes") set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --error-exitcode=1") endif() # ------------------------------------------------------------------------------ # Unit Tests # ------------------------------------------------------------------------------ if(BUILD_TESTING) enable_testing() add_subdirectory(test) endif(BUILD_TESTING) if(BUILD_PYTHON_BINDINGS AND (BUILD_TESTING OR BUILD_TESTING_PYTHON)) enable_testing() add_subdirectory(test/python) endif() # ------------------------------------------------------------------------------ # Benchmark # ------------------------------------------------------------------------------ if(BUILD_BENCHMARKING) add_subdirectory(benchmark) endif(BUILD_BENCHMARKING) artivis-manif-dbd8181/CONTRIBUTING.md000066400000000000000000000034721465611475000171500ustar00rootroot00000000000000# Contributing ## General guidelines **manif** is developed according to Vincent Driessen's [Gitflow Workflow][git-workflow]. This means, - the `master` branch is for releases only. - development is done on feature branches. - finished features are integrated via PullRequests into the branch `devel`. For a PullRequest to get merged into `devel`, it must pass - Review by one of the maintainers. - Are the changes introduced in scope of **manif**? - Is the documentation updated? - Are enough reasonable tests added? - Will these changes break the API? - Do the new changes follow the current style of naming? - Compile / Test / Run on all target environments. Note: The test suite detailed below is run in CI for many targets environments including, - Ubuntu 16.04/18.04/20.04 - MacOS 10.15 - Visual Studio 15 ## Development environment We will detail here how to set up a development environment. It is recommended to use containers if you do not want to install the dependencies on your host. You may refer to [this blog post](lxd-post) to set up a LXD container. First let us clone the **manif** repo, ```terminal git clone https://github.com/artivis/manif.git cd manif ``` Let's install all dependencies for development and testing, ```terminal apt install libeigen3-dev python3 -m pip install "pybind11[global]" pytest numpy ``` We can now build **manif**, its Python wrappers and all tests, ```terminal mkdir build && cd build cmake -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_BINDINGS=ON -DBUILD_EXAMPLES=ON .. make ``` To run the C++ tests execute the following, ```terminal ctest --output-on-failure ``` To run the Python tests, ```terminal cd manif pytest ``` [//]: # (URLs) [git-workflow]: http://nvie.com/posts/a-successful-git-branching-model [lxd-post]: https://artivis.github.io/post/2020/lxcartivis-manif-dbd8181/LICENSE000066400000000000000000000020561465611475000157210ustar00rootroot00000000000000MIT License Copyright (c) 2018 Jeremie Deray 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. artivis-manif-dbd8181/README.md000066400000000000000000000264741465611475000162050ustar00rootroot00000000000000# manif ## A small header-only library for Lie theory [![GHA][badge-ci-img]][badge-ci] [![appveyor][badge-ci-win-img]][badge-ci-win] [![Documentation][badge-doc-img]][manif-doc] [![codecov][badge-cov-img]][badge-cov] ![GitHub][badge-license] [![JOSS][badge-joss-img]][deray20] ## Package Summary **manif** is a Lie theory library for state-estimation targeted at robotics applications. It is developed as a header-only C++11 library with Python 3 wrappers. At the moment, it provides the groups: - ℝ(n): Euclidean space with addition. - SO(2): rotations in the plane. - SE(2): rigid motion (rotation and translation) in the plane. - SO(3): rotations in 3D space. - SE(3): rigid motion (rotation and translation) in 3D space. - SE_2(3): extended pose (rotation, translation and velocity) in 3D space, introduced (to the best of knowledge) in this [paper][barrau15]. NOTE: The implementation here differs slightly from the developments in the [paper][barrau15]. - SGal(3): The Special Galilean group (rotation, translation, velocity and time) in 3D space, described in these papers [[1][fourmy19]] & [[2][kelly24]]. - Bundle<>: allows manipulating a manifold bundle as a single Lie group. Referred to as a *composite manifold* in Section IV of the [reference paper](http://arxiv.org/abs/1812.01537). Other Lie groups can and will be added, contributions are welcome. **manif** is based on the mathematical presentation of the Lie theory available in [this paper][jsola18]. We recommend every user of **manif** to read the paper (17 pages) before starting to use the library. The paper provides a thorough introduction to Lie theory, in a simplified way so as to make the entrance to Lie theory easy for the average roboticist who is interested in designing rigorous and elegant state estimation algorithms. You may also find the following video online, ['Lie theory for the roboticist'][jsola-iri-lecture], a lecture given at [IRI-UPC][IRI-UPC]. In a rush? Check out our [Lie group cheat sheet][cheat_sheet]. It provides analytic computation of Jacobians for all the operations listed [below](#features). ### Details - Maintainer status: maintained - Maintainer: Jeremie Deray - Authors: - Jeremie Deray [deray.jeremie@gmail.com](mailto:deray.jeremie@gmail.com) - Joan Sola [jsola@iri.upc.edu](mailto:jsola@iri.upc.edu) - License: [MIT](LICENSE) - Bug / feature tracker: [github.com/artivis/manif/issues][manif-issue] - Source: [github.com/artivis/manif.git][manif-repo] (branch: devel) ## Quick Start Get quickly started with **manif** following our 'quick start' guides for both [C++](docs/pages/cpp/Quick-start.md) and [Python](docs/pages/python/Quick-start.md). ## Features ### Available Operations | Operation | | Code | | :--- | :---: | :---: | | | Base Operation | | | Inverse | ![\mathbf\Phi^{-1}][latex1] | `X.inverse()` | | Composition | ![\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}][latex2] | `X * Y`
`X.compose(Y)` | | Hat | ![\varphi^\wedge][latex3] | `w.hat()` | | Act on vector | ![\mathbf\mathcal{X}\circ\mathbf v][latex4] | `X.act(v)` | | Retract to group element | ![\exp(\mathbf\varphi^\wedge][latex5] | `w.exp()` | | Lift to tangent space | ![\log(\mathbf\mathcal{X})^\vee][latex6] | `X.log()` | | Manifold Adjoint | ![\operatorname{Adj}(\mathbf\mathcal{X})][latex7] | `X.adj()` | | Tangent adjoint | ![\operatorname{adj}(\mathbf\varphi^\wedge][latex8] | `w.smallAdj()` | | | Composed Operation | | | Manifold right plus | ![\mathbf\mathcal{X}\circ\exp(\mathbf\varphi^\wedge)][latex9] | `X + w`
`X.plus(w)`
`X.rplus(w)` | | Manifold left plus | ![\exp(\mathbf\varphi^\wedge)\circ\mathbf\mathcal{X}][latex10] | `w + X`
`w.plus(X)`
`w.lplus(X)` | | Manifold right minus | ![\log(\mathbf\mathcal{Y}^{-1}\circ\mathbf\mathcal{X})^\vee][latex11] | `X - Y`
`X.minus(Y)`
`X.rminus(Y)` | | Manifold left minus | ![\log(\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}^{-1})^\vee][latex12] | `X.lminus(Y)` | | Between | ![\mathbf\mathcal{X}^{-1}\circ\mathbf\mathcal{Y}][latex13] | `X.between(Y)` | | Inner Product | ![\langle\varphi,\tau\rangle][latex14] | `w.inner(t)` | | Norm | ![\left\lVert\varphi\right\rVert][latex15] | `w.weightedNorm()`
`w.squaredWeightedNorm()` | Above, ![\mathbf\mathcal{X},\mathbf\mathcal{Y}][latex16] represent group elements, ![\mathbf\varphi^\wedge,\tau^\wedge][latex17] represent elements in the Lie algebra of the Lie group, ![\mathbf\varphi,\tau][latex18] or `w,t` represent the same elements of the tangent space but expressed in Cartesian coordinates in ![\mathbb{R}^n][latex19], and ![\mathbf{v}][latex20] or `v` represents any element of ![\mathbb{R}^n][latex21]. ### Jacobians All operations come with their respective analytical Jacobian matrices. Throughout **manif**, **Jacobians are differentiated with respect to a local perturbation on the tangent space**. These Jacobians map tangent spaces, as described in [this paper][jsola18]. Currently, **manif** implements the **right Jacobian**, whose definition reads: ![\frac{\delta f(\mathbf\mathcal{X})}{\delta\mathbf\mathcal{X}}][latex22] The Jacobians of any of the aforementionned operations can then be evaluated: in C++, ```cpp SE3d X = SE3d::Random(); SE3Tangentd w = SE3Tangentd::Random(); SE3d::Jacobian J_o_x, J_o_w; auto X_plus_w = X.plus(w, J_o_x, J_o_w); ``` in Python, ```python X = SE3.Random() w = SE3Tangentd.Random() J_o_x = np.zeros((SE3.DoF, SE3.DoF)) J_o_w = np.zeros((SE3.DoF, SE3.DoF)) X_plus_w = X.plus(w, J_o_x, J_o_w) ``` #### Note While Jacobians in **manif** are differentiated with respect to a local perturbation on the tangent space, many non-linear solvers (e.g. [Ceres][ceres]) expect functions to be differentiated with respect to the underlying representation vector of the group element (e.g. with respect to quaternion vector for `SO3`). For this reason, **manif** is compliant with the auto-differentiation libraries [`ceres::Jet`][ceres-jet], [`autodiff::Dual`][autodiff] & [`autodiff::Real`][autodiff]. ## Documentation The documentation is available online at the accompanying [website][manif-doc]. Both the [C++][manif-doc-cpp] and the [Python][manif-doc-python] APIs are documented. Do you want to build it locally? Find out how on the [dedicated page](docs/pages/documentation.md). Note: throughout the code documentation we refer to 'the paper' which you can find on [the dedicated page](docs/pages/publication.md). ## Tutorials and application demos We provide some self-contained and self-explained [C++ examples](docs/pages/cpp/Quick-start.md#tutorials-and-application-demos) to help you get started. You prefer Python? The same examples are also [available in Python](docs/pages/python/Quick-start.md#tutorials-and-application-demos). ## Publications Check out our related [publications](docs/pages/publication.md) and how to cite them. ## They use manif Find out [who's already using manif](docs/pages/projects.md). ## Contributing Want to contribute? Great! Check out our [contribution guidelines](CONTRIBUTING.md). [//]: # (URLs) [jsola18]: http://arxiv.org/abs/1812.01537 [jsola18v]: http://arxiv.org/abs/1812.01537v4 [barrau15]: https://arxiv.org/pdf/1410.1465.pdf [fourmy19]: https://hal.science/hal-02183498/document [kelly24]: https://arxiv.org/abs/2312.07555 [deray20]: https://joss.theoj.org/papers/10.21105/joss.01371 [jsola-iri-lecture]: https://www.youtube.com/watch?v=nHOcoIyJj2o [jsola-iros-workshop]: https://www.youtube.com/watch?v=QR1p0Rabuww [IRI-UPC]: https://www.iri.upc.edu/ [eigen]: http://eigen.tuxfamily.org [ceres]: http://ceres-solver.org/ [ceres-jet]: http://ceres-solver.org/automatic_derivatives.html#dual-numbers-jets [autodiff]: https://autodiff.github.io/ [crtp]: https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern [manif-repo]: https://github.com/artivis/manif.git [manif-issue]: https://github.com/artivis/manif/issues [manif-doc]: https://artivis.github.io/manif/ [manif-doc-cpp]: https://artivis.github.io/manif/cpp/index.html [manif-doc-python]: https://artivis.github.io/manif/python/index.html [cheat_sheet]: paper/Lie_theory_cheat_sheet.pdf [optional-repo]: https://github.com/TartanLlama/optional [pybind11]: https://pybind11.readthedocs.io/en/stable/index.html [git-workflow]: http://nvie.com/posts/a-successful-git-branching-model/ [badge-ci]: https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel [badge-ci-img]: https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel [badge-ci-win]: https://ci.appveyor.com/project/artivis/manif [badge-ci-win-img]: https://ci.appveyor.com/api/projects/status/l0q7b0shhonvejrd?svg=true [badge-doc-img]: https://codedocs.xyz/artivis/manif.svg [badge-cov]: https://codecov.io/gh/artivis/manif [badge-cov-img]: https://codecov.io/gh/artivis/manif/branch/devel/graph/badge.svg [badge-license]: https://img.shields.io/github/license/mashape/apistatus.svg [badge-joss]: http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160 [badge-joss-img]: http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160/status.svg [latex1]: https://latex.codecogs.com/svg.latex?\mathbf&space;\mathcal{X}^{-1} [latex2]: https://latex.codecogs.com/svg.latex?\mathbf&space;\mathcal{X}&space;\circ&space;\mathbf&space;\mathcal{Y} [latex3]: https://latex.codecogs.com/svg.latex?\varphi^\wedge [latex4]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\circ\mathbf&space;v [latex5]: https://latex.codecogs.com/svg.latex?\exp(\mathbf\varphi^\wedge) [latex6]: https://latex.codecogs.com/svg.latex?\log(\mathbf&space;\mathcal{X})^\vee [latex7]: https://latex.codecogs.com/svg.latex?\operatorname{Adj}(\mathbf&space;\mathcal{X}) [latex8]: https://latex.codecogs.com/svg.latex?\operatorname{adj}(\mathbf&space;\varphi^\wedge) [latex9]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\oplus\mathbf\varphi=\mathbf\mathcal{X}\circ\exp(\mathbf\varphi^\wedge) [latex10]: https://latex.codecogs.com/svg.latex?\mathbf\varphi\oplus\mathbf\mathcal{X}=\exp(\mathbf\varphi^\wedge)\circ\mathbf\mathcal{X} [latex11]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\ominus\mathbf\mathcal{Y}=\log(\mathbf\mathcal{Y}^{-1}\circ\mathbf\mathcal{X})^\vee [latex12]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\ominus\mathbf\mathcal{Y}=\log(\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}^{-1})^\vee\phantom{.} [latex13]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}^{-1}\circ\mathbf\mathcal{Y} [latex14]: https://latex.codecogs.com/svg.latex?\langle\varphi,\tau\rangle [latex15]: https://latex.codecogs.com/svg.latex?\left\lVert\varphi\right\rVert [latex16]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X},\mathbf\mathcal{Y} [latex17]: https://latex.codecogs.com/svg.latex?\mathbf\varphi^\wedge,\tau^\wedge [latex18]: https://latex.codecogs.com/svg.latex?\mathbf\varphi,\tau [latex19]: https://latex.codecogs.com/svg.latex?\mathbb{R}^n [latex20]: https://latex.codecogs.com/svg.latex?\mathbf{v} [latex21]: https://latex.codecogs.com/svg.latex?\mathbb{R}^n [latex22]: https://latex.codecogs.com/svg.latex?\frac{\delta&space;f(\mathbf\mathcal{X})}{\delta\mathbf\mathcal{X}}\triangleq\lim_{\varphi\to0}\frac{&space;f(\mathbf\mathcal{X}\oplus\varphi)\ominus&space;f(\mathbf\mathcal{X})}{\varphi}\triangleq\lim_{\varphi\to0}\frac{\log(f(\mathbf\mathcal{X})^{-1}&space;f(\mathbf\mathcal{X}\exp(\varphi^\wedge)))^\vee}{\varphi} [latex23]: https://latex.codecogs.com/svg.latex?SO(3) artivis-manif-dbd8181/appveyor.yml000066400000000000000000000052311465611475000173020ustar00rootroot00000000000000branches: only: - master - devel skip_commits: files: - '**/.doxygen.txt' - '**/.gitignore' - '**/.travis.yml' - '**/*.md' - '**/LICENSE.txt' os: Visual Studio 2015 environment: matrix: # @TODO Does not compile on VS14 # - generator: "Visual Studio 14 Win64" # configuration: Release # build_tests: ON # build_ceres_tests: OFF # build_examples: ON - generator: "Visual Studio 15 Win64" APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017 configuration: Release build_tests: ON build_ceres_tests: OFF build_examples: ON # @TODO Disabled until Ceres install is fixed # - generator: "Visual Studio 15 Win64" # APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017 # configuration: Release # build_tests: ON # build_ceres_tests: ON # build_examples: ON clone_folder: c:\projects\manif build: project: c:\projects\manif\build\manif.sln install: - ps: | Write-Output "Generator: $env:generator" Write-Output "Env:Configuation: $env:configuration" if (Test-Path env:APPVEYOR_PULL_REQUEST_NUMBER) { Write-Output "This is a pull request build" } # Get Eigen 3.3-beta1 - ps: wget -O eigen3.zip https://gitlab.com/libeigen/eigen/-/archive/3.3-beta1/eigen-3.3-beta1.zip - cmd: 7z x eigen3.zip -o"C:\projects" -y > nul # - cmd: $env:CMAKE_INCLUDE_PATH = "C:\projects\eigen-eigen-ce5a455b34c0;$env:CMAKE_INCLUDE_PATH" build_script: # Install Ceres. # @TODO does not work atm, Ceres does not find Eigen - ps: | if ($env:build_ceres_tests -eq "ON") { Write-Output "Building Ceres." cd c:\projects git clone --branch=1.14.0 --single-branch git://github.com/ceres-solver/ceres-solver.git ceres-solver cd ceres-solver md _build cd _build $eigen_include = "-DEIGEN3_INCLUDE_DIR=C:\projects\eigen-3.3-beta1" cmake -G "$env:generator" $eigen_include -DMINIGLOG=ON -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF .. cmake --build . --config $env:configuration --target install } # Build manif - ps: | cd c:\projects\manif md _build cd _build $btests = "-DBUILD_TESTING=$env:build_tests" $bexamples = "-DBUILD_EXAMPLES=$env:build_examples" $eigen_include = "-DEIGEN3_INCLUDE_DIR=C:\projects\eigen-3.3-beta1" cmake -G "$env:generator" $eigen_include $btests $bexamples .. cmake --build . --config $env:configuration test_script: - ps: ctest -VV -C $env:configuration --output-on-failure notifications: - provider: Email to: deray.jeremie@gmail.com on_build_success: false on_build_failure: true on_build_status_changed: false artivis-manif-dbd8181/benchmark/000077500000000000000000000000001465611475000166435ustar00rootroot00000000000000artivis-manif-dbd8181/benchmark/CMakeLists.txt000066400000000000000000000035071465611475000214100ustar00rootroot00000000000000find_package(benchmark QUIET) if(NOT benchmark_FOUND) # If not found, download it include(FetchContent) FetchContent_Declare( googlebenchmark GIT_REPOSITORY https://github.com/google/benchmark.git GIT_TAG v1.5.2 ) set(BENCHMARK_ENABLE_TESTING OFF) FetchContent_MakeAvailable(googlebenchmark) endif() # small helper function function(manif_add_benchmark target) add_executable(${target} ${ARGN}) # add_dependencies(${target} gtest) target_link_libraries(${target} ${PROJECT_NAME} benchmark::benchmark) if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") # GCC is not strict enough by default, so enable most of the warnings. target_compile_options(${target} PRIVATE -Werror=all -Werror=extra # When the library is built using GCC it is necessary to link # with the pthread library due to how GCC implements std::thread. # See https://github.com/google/benchmark#platform-specific-build-instructions -pthread ) endif() endfunction() manif_add_benchmark(benchmark_so2 benchmark_so2.cpp) manif_add_benchmark(benchmark_se2 benchmark_se2.cpp) manif_add_benchmark(benchmark_so3 benchmark_so3.cpp) manif_add_benchmark(benchmark_se3 benchmark_se3.cpp) manif_add_benchmark(benchmark_se_2_3 benchmark_se_2_3.cpp) manif_add_benchmark(benchmark_rn benchmark_rn.cpp) manif_add_benchmark(benchmark_manif benchmark_manif.cpp) manif_add_benchmark(benchmark_quat benchmark_quat.cpp) set(CXX_17_TEST_TARGETS benchmark_so2 benchmark_se2 benchmark_so3 benchmark_se3 benchmark_se_2_3 benchmark_rn benchmark_manif benchmark_quat ) # Set required C++17 flag set_property(TARGET ${CXX_17_TEST_TARGETS} PROPERTY CXX_STANDARD 17) set_property(TARGET ${CXX_17_TEST_TARGETS} PROPERTY CXX_STANDARD_REQUIRED ON) set_property(TARGET ${CXX_17_TEST_TARGETS} PROPERTY CXX_EXTENSIONS OFF) artivis-manif-dbd8181/benchmark/benchmark_manif.cpp000066400000000000000000000003511465611475000224520ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(R5d) MANIF_BENCHMARK(SO2d) MANIF_BENCHMARK(SE2d) MANIF_BENCHMARK(SO3d) MANIF_BENCHMARK(SE3d) MANIF_BENCHMARK(SE_2_3d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_quat.cpp000066400000000000000000000055411465611475000223400ustar00rootroot00000000000000#include #include template void normalizeQuat(Eigen::Quaternion& q) { // see https://github.com/zarathustr/quat_norm q.coeffs() /= q.coeffs().cwiseAbs().maxCoeff(); for (char j = 0; j < 3; ++j) { const Scalar N = q.squaredNorm(); q.coeffs() *= (5.0 + N) / (2.0 + 4.0 * N); } } Eigen::Quaternion randQuat() { // @note: We are using: // http://mathworld.wolfram.com/HyperspherePointPicking.html using std::sqrt; using Scalar = double; using Quaternion = Eigen::Quaternion; Scalar u1, u2; do { u1 = Eigen::internal::random(-1, 1), u2 = Eigen::internal::random(-1, 1); } while (u1 * u1 + u2 * u2 > Scalar(1)); Scalar u3, u4, n; do { u3 = Eigen::internal::random(-1, 1), u4 = Eigen::internal::random(-1, 1); n = u3 * u3 + u4 * u4; } while (n > Scalar(1.0)); const Scalar zw_factor = sqrt((Scalar(1) - u1 * u1 - u2 * u2) / n); return Quaternion(u1, u2, u3 * zw_factor, u4 * zw_factor); } // Normalization benchmark static void BM_EigenNormalize(benchmark::State& state) { Eigen::Quaternion q; // Use the underlying vector random so that // the quaternion isn't normalized already q.coeffs().setRandom(); double norm=0; for (auto _ : state) { q.normalize(); state.PauseTiming(); norm += q.norm(); q.coeffs().setRandom(); state.ResumeTiming(); } state.counters["normAvg"] = benchmark::Counter( norm, benchmark::Counter::kAvgIterations ); } BENCHMARK(BM_EigenNormalize); static void BM_normalizeQuat(benchmark::State& state) { Eigen::Quaternion q; // Use the underlying vector random so that // the quaternion isn't normalized already q.coeffs().setRandom(); double norm=0; for (auto _ : state) { normalizeQuat(q); state.PauseTiming(); norm += q.norm(); q.coeffs().setRandom(); state.ResumeTiming(); } state.counters["normAvg"] = benchmark::Counter( norm, benchmark::Counter::kAvgIterations ); } BENCHMARK(BM_normalizeQuat); // Random benchmark static void BM_UnitRandom(benchmark::State& state) { Eigen::Quaternion q; double norm=0; for (auto _ : state) { benchmark::DoNotOptimize(q = manif::randQuat()); state.PauseTiming(); norm += q.norm(); state.ResumeTiming(); } state.counters["normAvg"] = benchmark::Counter( norm, benchmark::Counter::kAvgIterations ); } BENCHMARK(BM_UnitRandom); static void BM_RandQuat(benchmark::State& state) { Eigen::Quaternion q; double norm=0; for (auto _ : state) { benchmark::DoNotOptimize(q = randQuat()); state.PauseTiming(); norm += q.norm(); state.ResumeTiming(); } state.counters["normAvg"] = benchmark::Counter( norm, benchmark::Counter::kAvgIterations ); } BENCHMARK(BM_RandQuat); BENCHMARK_MAIN(); artivis-manif-dbd8181/benchmark/benchmark_rn.cpp000066400000000000000000000001651465611475000220020ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(R5d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_se2.cpp000066400000000000000000000001671465611475000220560ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(SE2d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_se3.cpp000066400000000000000000000001671465611475000220570ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(SE3d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_se_2_3.cpp000066400000000000000000000001751465611475000224360ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(SE_2_3d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_so2.cpp000066400000000000000000000001671465611475000220700ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(SO2d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/benchmark_so3.cpp000066400000000000000000000001671465611475000220710ustar00rootroot00000000000000#include "common_benchmark.h" #include using namespace manif; MANIF_BENCHMARK(SO3d) BENCHMARK_MAIN();artivis-manif-dbd8181/benchmark/common_benchmark.h000066400000000000000000000206131465611475000223200ustar00rootroot00000000000000#ifndef _MANIF_BENCHMARK_COMMON_BENCHMARK_H_ #define _MANIF_BENCHMARK_COMMON_BENCHMARK_H_ #include #define MANIF_BENCHMARK(manifold) \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_INVERSE, manifold \ )(benchmark::State& st) { for (auto _ : st) evalInverse(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_INVERSE_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalInverseJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RPLUS, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRplus(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RPLUS_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRplusJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LPLUS, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLplus(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LPLUS_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLplusJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RMINUS, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRminus(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RMINUS_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRminusJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LMINUS, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLminus(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LMINUS_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLminusJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_COMPOSE, manifold \ )(benchmark::State& st) { for (auto _ : st) evalCompose(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_COMPOSE_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalComposeJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_BETWEEN, manifold \ )(benchmark::State& st) { for (auto _ : st) evalBetween(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_BETWEEN_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalBetweenJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_ACT, manifold \ )(benchmark::State& st) { for (auto _ : st) evalAct(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_ACT_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalActJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LOG, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLog(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LOG_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLogJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_EXP, manifold \ )(benchmark::State& st) { for (auto _ : st) evalExp(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_EXP_JAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalExpJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_HAT, manifold \ )(benchmark::State& st) { for (auto _ : st) evalHat(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_ADJ, manifold \ )(benchmark::State& st) { for (auto _ : st) evalAdj(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_SMALL_ADJ, manifold \ )(benchmark::State& st) { for (auto _ : st) evalSmallAdj(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_INNER, manifold \ )(benchmark::State& st) { for (auto _ : st) evalInner(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RJAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_RJACINV, manifold \ )(benchmark::State& st) { for (auto _ : st) evalRJacInv(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LJAC, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLJac(); } \ BENCHMARK_TEMPLATE_F( \ CommonBenchmark, BM_##manifold##_LJACINV, manifold \ )(benchmark::State& st) { for (auto _ : st) evalLJacInv(); } template class CommonBenchmark : public benchmark::Fixture { using LieGroup = _LieGroup; using Scalar = typename LieGroup::Scalar; using Tangent = typename LieGroup::Tangent; using Jacobian = typename LieGroup::Jacobian; using LieAlg = typename Tangent::LieAlg; using Point = typename LieGroup::Vector; public: void SetUp(const benchmark::State&) override { // Maybe is it better to compare the same seed here. // std::srand((unsigned int) time(0)); state = LieGroup::Random(); state_other = LieGroup::Random(); delta = Tangent::Random(); delta_other = Tangent::Random(); pa.setRandom(); } void evalInverse() { state_new = state.inverse(); } void evalInverseJac() { state_new = state.inverse(Ja); } void evalRplus() { state_new = state.rplus(delta); } void evalRplusJac() { state_new = state.rplus(delta, Ja, Jb); } void evalLplus() { state_new = state.lplus(delta); } void evalLplusJac() { state_new = state.lplus(delta, Ja, Jb); } void evalRminus() { delta_new = state.rminus(state_other); } void evalRminusJac() { delta_new = state.rminus(state_other, Ja, Jb); } void evalLminus() { delta_new = state.lminus(state_other); } void evalLminusJac() { delta_new = state.lminus(state_other, Ja, Jb); } void evalCompose() { state_new = state.compose(state_other); } void evalComposeJac() { state_new = state.compose(state_other, Ja, Jb); } void evalBetween() { state_new = state.between(state_other); } void evalBetweenJac() { state_new = state.between(state_other, Ja, Jb); } void evalAct() { pb = state.act(pa); } void evalActJac() { // pb = state.act(pa, Ja, Jb); } void evalLog() { delta_new = state.log(); } void evalLogJac() { delta_new = state.log(Ja); } void evalExp() { state_new = delta.exp(); } void evalExpJac() { state_new = delta.exp(Ja); } void evalHat() { hat = delta.hat(); } void evalAdj() { Ja = state.adj(); } void evalSmallAdj() { Ja = delta.smallAdj(); } void evalInner() { inner = delta.inner(delta_other); } void evalRJac() { Ja = delta.rjac(); } void evalRJacInv() { Ja = delta.rjacinv(); } void evalLJac() { Ja = delta.ljac(); } void evalLJacInv() { Ja = delta.ljacinv(); } protected: Scalar inner; LieGroup state; LieGroup state_other; LieGroup state_new; Tangent delta; Tangent delta_other; Tangent delta_new; Point pa, pb; Jacobian Ja, Jb; LieAlg hat; }; #endif // _MANIF_BENCHMARK_COMMON_BENCHMARK_H_artivis-manif-dbd8181/cmake/000077500000000000000000000000001465611475000157715ustar00rootroot00000000000000artivis-manif-dbd8181/cmake/manifConfig.cmake.in000066400000000000000000000011241465611475000216160ustar00rootroot00000000000000@PACKAGE_INIT@ include(CMakeFindDependencyMacro) @Eigen3_DEPENDENCY@ @tl-optional_DEPENDENCY@ if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") endif() # Explicitly set ${PROJECT_NAME}_INCLUDE_DIRS get_target_property(@PROJECT_NAME@_interface_includes @PROJECT_NAME_CAPS@::@PROJECT_NAME@ INTERFACE_INCLUDE_DIRECTORIES) set(@PROJECT_NAME@_INCLUDE_DIRS ${@PROJECT_NAME@_interface_includes}) set(@PROJECT_NAME@_LIBRARY ${@PROJECT_NAME@_LIBRARY}) set(@PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_LIBRARY}) check_required_components("@PROJECT_NAME@") artivis-manif-dbd8181/cmake/modules/000077500000000000000000000000001465611475000174415ustar00rootroot00000000000000artivis-manif-dbd8181/cmake/modules/FindEigen3.cmake000066400000000000000000000073261465611475000223660ustar00rootroot00000000000000# - Try to find Eigen3 lib # # This module supports requiring a minimum version, e.g. you can do # find_package(Eigen3 3.1.2) # to require version 3.1.2 or newer of Eigen3. # # Once done this will define # # EIGEN3_FOUND - system has eigen lib with correct version # EIGEN3_INCLUDE_DIR - the eigen include directory # EIGEN3_VERSION - eigen version # # and the following imported target: # # Eigen3::Eigen - The header-only Eigen library # # This module reads hints about search locations from # the following environment variables: # # EIGEN3_ROOT # EIGEN3_ROOT_DIR # Copyright (c) 2006, 2007 Montel Laurent, # Copyright (c) 2008, 2009 Gael Guennebaud, # Copyright (c) 2009 Benoit Jacob # Redistribution and use is allowed according to the terms of the 2-clause BSD license. if(NOT Eigen3_FIND_VERSION) if(NOT Eigen3_FIND_VERSION_MAJOR) set(Eigen3_FIND_VERSION_MAJOR 2) endif(NOT Eigen3_FIND_VERSION_MAJOR) if(NOT Eigen3_FIND_VERSION_MINOR) set(Eigen3_FIND_VERSION_MINOR 91) endif(NOT Eigen3_FIND_VERSION_MINOR) if(NOT Eigen3_FIND_VERSION_PATCH) set(Eigen3_FIND_VERSION_PATCH 0) endif(NOT Eigen3_FIND_VERSION_PATCH) set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") endif(NOT Eigen3_FIND_VERSION) macro(_eigen3_check_version) file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) set(EIGEN3_VERSION_OK FALSE) else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) set(EIGEN3_VERSION_OK TRUE) endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) if(NOT EIGEN3_VERSION_OK) message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " "but at least version ${Eigen3_FIND_VERSION} is required") endif(NOT EIGEN3_VERSION_OK) endmacro(_eigen3_check_version) if (EIGEN3_INCLUDE_DIR) # in cache already _eigen3_check_version() set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) else (EIGEN3_INCLUDE_DIR) # search first if an Eigen3Config.cmake is available in the system, # if successful this would set EIGEN3_INCLUDE_DIR and the rest of # the script will work as usual find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET) if(NOT EIGEN3_INCLUDE_DIR) find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library HINTS ENV EIGEN3_ROOT ENV EIGEN3_ROOT_DIR PATHS ${CMAKE_INSTALL_PREFIX}/include ${KDE4_INCLUDE_DIR} PATH_SUFFIXES eigen3 eigen ) endif(NOT EIGEN3_INCLUDE_DIR) if(EIGEN3_INCLUDE_DIR) _eigen3_check_version() endif(EIGEN3_INCLUDE_DIR) include(FindPackageHandleStandardArgs) find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) mark_as_advanced(EIGEN3_INCLUDE_DIR) endif(EIGEN3_INCLUDE_DIR) if(EIGEN3_FOUND AND NOT TARGET Eigen3::Eigen) add_library(Eigen3::Eigen INTERFACE IMPORTED) set_target_properties(Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}") endif() artivis-manif-dbd8181/docs/000077500000000000000000000000001465611475000156415ustar00rootroot00000000000000artivis-manif-dbd8181/docs/Doxyfile000066400000000000000000003026021465611475000173520ustar00rootroot00000000000000# # CI Hello World # # Copyright (C) 2017 Assured Information Security, Inc. # Author: Rian Quinn # # 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. #--------------------------------------------------------------------------- # Custom #--------------------------------------------------------------------------- # The PROJECT_NAME tag is a single word (or a sequence of words surrounded by # double-quotes, unless you are using Doxywizard) that should identify the # project for which the documentation is generated. This name is used in the # title of most generated pages and in a few other places. # The default value is: My Project. PROJECT_NAME = "manif" # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a # quick idea about the purpose of the project. Keep the description short. PROJECT_BRIEF = "C++ API" # The INPUT tag is used to specify the files and/or directories that contain # documented source files. You may enter file names like myfile.cpp or # directories like /usr/src/myproject. Separate the files or directories with # spaces. # Note: If this tag is empty the current directory is searched. INPUT = "../include" "./pages/cpp" #--------------------------------------------------------------------------- # Shared #--------------------------------------------------------------------------- # This tag specifies the encoding used for all characters in the config file # that follow. The default is UTF-8 which is also the encoding used for all text # before the first occurrence of this tag. Doxygen uses libiconv (or the iconv # built into libc) for the transcoding. See http://www.gnu.org/software/libiconv # for the list of possible encodings. # The default value is: UTF-8. DOXYFILE_ENCODING = UTF-8 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This # could be handy for archiving the generated documentation or if some version # control system is used. PROJECT_NUMBER = # With the PROJECT_LOGO tag one can specify an logo or icon that is included in # the documentation. The maximum height of the logo should not exceed 55 pixels # and the maximum width should not exceed 200 pixels. Doxygen will copy the logo # to the output directory. PROJECT_LOGO = # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path # into which the generated documentation will be written. If a relative path is # entered, it will be relative to the location where doxygen was started. If # left blank the current directory will be used. OUTPUT_DIRECTORY = "../docs" # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub- # directories (in 2 levels) under the output directory of each output format and # will distribute the generated files over these directories. Enabling this # option can be useful when feeding doxygen a huge amount of source files, where # putting all generated files in the same directory would otherwise causes # performance problems for the file system. # The default value is: NO. CREATE_SUBDIRS = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # Possible values are: Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese- # Traditional, Croatian, Czech, Danish, Dutch, English, Esperanto, Farsi, # Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en, # Korean, Korean-en, Latvian, Norwegian, Macedonian, Persian, Polish, # Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, # Turkish, Ukrainian and Vietnamese. # The default value is: English. OUTPUT_LANGUAGE = English # If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member # descriptions after the members that are listed in the file and class # documentation (similar to Javadoc). Set to NO to disable this. # The default value is: YES. BRIEF_MEMBER_DESC = YES # If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief # description of a member or function before the detailed description # # Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. # The default value is: YES. REPEAT_BRIEF = YES # This tag implements a quasi-intelligent brief description abbreviator that is # used to form the text in various listings. Each string in this list, if found # as the leading text of the brief description, will be stripped from the text # and the result, after processing the whole list, is used as the annotated # text. Otherwise, the brief description is used as-is. If left blank, the # following values are used ($name is automatically replaced with the name of # the entity):The $name class, The $name widget, The $name file, is, provides, # specifies, contains, represents, a, an and the. ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then # doxygen will generate a detailed section even if there is only a brief # description. # The default value is: NO. ALWAYS_DETAILED_SEC = NO # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. # The default value is: NO. INLINE_INHERITED_MEMB = NO # If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path # before files name in the file list and in the header files. If set to NO the # shortest path that makes the file name unique will be used # The default value is: YES. FULL_PATH_NAMES = NO # The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. # Stripping is only done if one of the specified strings matches the left-hand # part of the path. The tag can be used to show relative paths in the file list. # If left blank the directory from which doxygen is run is used as the path to # strip. # # Note that you can specify absolute paths here, but also relative paths, which # will be relative from the directory where doxygen is started. # This tag requires that the tag FULL_PATH_NAMES is set to YES. STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the # path mentioned in the documentation of a class, which tells the reader which # header file to include in order to use a class. If left blank only the name of # the header file containing the class definition is used. Otherwise one should # specify the list of include paths that are normally passed to the compiler # using the -I flag. STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but # less readable) file names. This can be useful is your file systems doesn't # support long names like on DOS, Mac, or CD-ROM. # The default value is: NO. SHORT_NAMES = NO # If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the # first line (until the first dot) of a Javadoc-style comment as the brief # description. If set to NO, the Javadoc-style will behave just like regular Qt- # style comments (thus requiring an explicit @brief command for a brief # description.) # The default value is: NO. JAVADOC_AUTOBRIEF = NO # If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first # line (until the first dot) of a Qt-style comment as the brief description. If # set to NO, the Qt-style will behave just like regular Qt-style comments (thus # requiring an explicit \brief command for a brief description.) # The default value is: NO. QT_AUTOBRIEF = NO # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a # multi-line C++ special comment block (i.e. a block of //! or /// comments) as # a brief description. This used to be the default behavior. The new default is # to treat a multi-line C++ comment block as a detailed description. Set this # tag to YES if you prefer the old behavior instead. # # Note that setting this tag to YES also means that rational rose comments are # not recognized any more. # The default value is: NO. MULTILINE_CPP_IS_BRIEF = NO # If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the # documentation from any documented member that it re-implements. # The default value is: YES. INHERIT_DOCS = YES # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a # new page for each member. If set to NO, the documentation of a member will be # part of the file/class/namespace that contains it. # The default value is: NO. SEPARATE_MEMBER_PAGES = NO # The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen # uses this value to replace tabs by spaces in code fragments. # Minimum value: 1, maximum value: 16, default value: 4. TAB_SIZE = 2 # This tag can be used to specify a number of aliases that act as commands in # the documentation. An alias has the form: # name=value # For example adding # "sideeffect=@par Side Effects:\n" # will allow you to put the command \sideeffect (or @sideeffect) in the # documentation, which will result in a user-defined paragraph with heading # "Side Effects:". You can put \n's in the value part of an alias to insert # newlines. ALIASES = expects="\pre expects:" ensures="\post ensures:" # This tag can be used to specify a number of word-keyword mappings (TCL only). # A mapping has the form "name=value". For example adding "class=itcl::class" # will allow you to use the command class in the itcl::class meaning. TCL_SUBST = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources # only. Doxygen will then generate output that is more tailored for C. For # instance, some of the names that are used will be different. The list of all # members will be omitted, etc. # The default value is: NO. OPTIMIZE_OUTPUT_FOR_C = YES # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or # Python sources only. Doxygen will then generate output that is more tailored # for that language. For instance, namespaces will be presented as packages, # qualified scopes will look different, etc. # The default value is: NO. OPTIMIZE_OUTPUT_JAVA = NO # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran # sources. Doxygen will then generate output that is tailored for Fortran. # The default value is: NO. OPTIMIZE_FOR_FORTRAN = NO # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL # sources. Doxygen will then generate output that is tailored for VHDL. # The default value is: NO. OPTIMIZE_OUTPUT_VHDL = NO # Doxygen selects the parser to use depending on the extension of the files it # parses. With this tag you can assign which parser to use for a given # extension. Doxygen has a built-in mapping, but you can override or extend it # using this tag. The format is ext=language, where ext is a file extension, and # language is one of the parsers supported by doxygen: IDL, Java, Javascript, # C#, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL. For instance to make # doxygen treat .inc files as Fortran files (default is PHP), and .f files as C # (default is Fortran), use: inc=Fortran f=C. # # Note For files without extension you can use no_extension as a placeholder. # # Note that for custom extensions you also need to set FILE_PATTERNS otherwise # the files are not read by doxygen. EXTENSION_MAPPING = # If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments # according to the Markdown format, which allows for more readable # documentation. See http://daringfireball.net/projects/markdown/ for details. # The output of markdown processing is further processed by doxygen, so you can # mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in # case of backward compatibilities issues. # The default value is: YES. MARKDOWN_SUPPORT = YES TOC_INCLUDE_HEADINGS = 4 # When enabled doxygen tries to link words that correspond to documented # classes, or namespaces to their corresponding documentation. Such a link can # be prevented in individual cases by by putting a % sign in front of the word # or globally by setting AUTOLINK_SUPPORT to NO. # The default value is: YES. AUTOLINK_SUPPORT = YES # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want # to include (a tag file for) the STL sources as input, then you should set this # tag to YES in order to let doxygen match functions declarations and # definitions whose arguments contain STL classes (e.g. func(std::string); # versus func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. # The default value is: NO. BUILTIN_STL_SUPPORT = NO # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. # The default value is: NO. CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip (see: # http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen # will parse them like normal C++ but will assume all classes use public instead # of private inheritance when no explicit protection keyword is present. # The default value is: NO. SIP_SUPPORT = NO # For Microsoft's IDL there are propget and propput attributes to indicate # getter and setter methods for a property. Setting this option to YES will make # doxygen to replace the get and set methods by a property in the documentation. # This will only work if the methods are indeed getting or setting a simple # type. If this is not the case, or you want to show the methods anyway, you # should set this option to NO. # The default value is: YES. IDL_PROPERTY_SUPPORT = YES # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC # tag is set to YES, then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. # The default value is: NO. DISTRIBUTE_GROUP_DOC = NO # Set the SUBGROUPING tag to YES to allow class member groups of the same type # (for instance a group of public functions) to be put as a subgroup of that # type (e.g. under the Public Functions section). Set it to NO to prevent # subgrouping. Alternatively, this can be done per class using the # \nosubgrouping command. # The default value is: YES. SUBGROUPING = YES # When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions # are shown inside the group in which they are included (e.g. using \ingroup) # instead of on a separate page (for HTML and Man pages) or section (for LaTeX # and RTF). # # Note that this feature does not work in combination with # SEPARATE_MEMBER_PAGES. # The default value is: NO. INLINE_GROUPED_CLASSES = NO # When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions # with only public data fields or simple typedef fields will be shown inline in # the documentation of the scope in which they are defined (i.e. file, # namespace, or group documentation), provided this scope is documented. If set # to NO, structs, classes, and unions are shown on a separate page (for HTML and # Man pages) or section (for LaTeX and RTF). # The default value is: NO. INLINE_SIMPLE_STRUCTS = NO # When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or # enum is documented as struct, union, or enum with the name of the typedef. So # typedef struct TypeS {} TypeT, will appear in the documentation as a struct # with name TypeT. When disabled the typedef will appear as a member of a file, # namespace, or class. And the struct will be named TypeS. This can typically be # useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. # The default value is: NO. TYPEDEF_HIDES_STRUCT = NO # The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This # cache is used to resolve symbols given their name and scope. Since this can be # an expensive process and often the same symbol appears multiple times in the # code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small # doxygen will become slower. If the cache is too large, memory is wasted. The # cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range # is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 # symbols. At the end of a run doxygen will report the cache usage and suggest # the optimal cache size from a speed point of view. # Minimum value: 0, maximum value: 9, default value: 0. LOOKUP_CACHE_SIZE = 2 #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. Private # class members and static file members will be hidden unless the # EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. # Note: This will also disable the warnings about undocumented members that are # normally produced when WARNINGS is set to YES. # The default value is: NO. EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES all private members of a class will # be included in the documentation. # The default value is: NO. EXTRACT_PRIVATE = NO # If the EXTRACT_PACKAGE tag is set to YES all members with package or internal # scope will be included in the documentation. # The default value is: NO. EXTRACT_PACKAGE = NO # If the EXTRACT_STATIC tag is set to YES all static members of a file will be # included in the documentation. # The default value is: NO. EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined # locally in source files will be included in the documentation. If set to NO # only classes defined in header files are included. Does not have any effect # for Java sources. # The default value is: YES. EXTRACT_LOCAL_CLASSES = NO # This flag is only useful for Objective-C code. When set to YES local methods, # which are defined in the implementation section but not in the interface are # included in the documentation. If set to NO only methods in the interface are # included. # The default value is: NO. EXTRACT_LOCAL_METHODS = NO # If this flag is set to YES, the members of anonymous namespaces will be # extracted and appear in the documentation as a namespace called # 'anonymous_namespace{file}', where file will be replaced with the base name of # the file that contains the anonymous namespace. By default anonymous namespace # are hidden. # The default value is: NO. EXTRACT_ANON_NSPACES = NO # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all # undocumented members inside documented classes or files. If set to NO these # members will be included in the various overviews, but no documentation # section is generated. This option has no effect if EXTRACT_ALL is enabled. # The default value is: NO. HIDE_UNDOC_MEMBERS = NO # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. If set # to NO these classes will be included in the various overviews. This option has # no effect if EXTRACT_ALL is enabled. # The default value is: NO. HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend # (class|struct|union) declarations. If set to NO these declarations will be # included in the documentation. # The default value is: NO. HIDE_FRIEND_COMPOUNDS = YES # If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any # documentation blocks found inside the body of a function. If set to NO these # blocks will be appended to the function's detailed documentation block. # The default value is: NO. HIDE_IN_BODY_DOCS = YES # The INTERNAL_DOCS tag determines if documentation that is typed after a # \internal command is included. If the tag is set to NO then the documentation # will be excluded. Set it to YES to include the internal documentation. # The default value is: NO. INTERNAL_DOCS = NO # If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file # names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. # The default value is: system dependent. CASE_SENSE_NAMES = NO # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with # their full class and namespace scopes in the documentation. If set to YES the # scope will be hidden. # The default value is: NO. HIDE_SCOPE_NAMES = NO # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of # the files that are included by a file in the documentation of that file. # The default value is: YES. SHOW_INCLUDE_FILES = NO # If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include # files with double quotes in the documentation rather than with sharp brackets. # The default value is: NO. FORCE_LOCAL_INCLUDES = NO # If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the # documentation for inline members. # The default value is: YES. INLINE_INFO = YES # If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the # (detailed) documentation of file and class members alphabetically by member # name. If set to NO the members will appear in declaration order. # The default value is: YES. SORT_MEMBER_DOCS = NO # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief # descriptions of file, namespace and class members alphabetically by member # name. If set to NO the members will appear in declaration order. # The default value is: NO. SORT_BRIEF_DOCS = NO # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the # (brief and detailed) documentation of class members so that constructors and # destructors are listed first. If set to NO the constructors will appear in the # respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. # Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief # member documentation. # Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting # detailed member documentation. # The default value is: NO. SORT_MEMBERS_CTORS_1ST = YES # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy # of group names into alphabetical order. If set to NO the group names will # appear in their defined order. # The default value is: NO. SORT_GROUP_NAMES = NO # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by # fully-qualified names, including namespaces. If set to NO, the class list will # be sorted only by class name, not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. # Note: This option applies only to the class list, not to the alphabetical # list. # The default value is: NO. SORT_BY_SCOPE_NAME = NO # If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper # type resolution of all parameters of a function it will reject a match between # the prototype and the implementation of a member function even if there is # only one candidate or it is obvious which candidate to choose by doing a # simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still # accept a match between prototype and implementation in such cases. # The default value is: NO. STRICT_PROTO_MATCHING = NO # The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the # todo list. This list is created by putting \todo commands in the # documentation. # The default value is: YES. GENERATE_TODOLIST = NO # The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the # test list. This list is created by putting \test commands in the # documentation. # The default value is: YES. GENERATE_TESTLIST = NO # The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug # list. This list is created by putting \bug commands in the documentation. # The default value is: YES. GENERATE_BUGLIST = NO # The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) # the deprecated list. This list is created by putting \deprecated commands in # the documentation. # The default value is: YES. GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional documentation # sections, marked by \if ... \endif and \cond # ... \endcond blocks. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the # initial value of a variable or macro / define can have for it to appear in the # documentation. If the initializer consists of more lines than specified here # it will be hidden. Use a value of 0 to hide initializers completely. The # appearance of the value of individual variables and macros / defines can be # controlled using \showinitializer or \hideinitializer command in the # documentation regardless of this setting. # Minimum value: 0, maximum value: 10000, default value: 30. MAX_INITIALIZER_LINES = 30 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated at # the bottom of the documentation of classes and structs. If set to YES the list # will mention the files that were used to generate the documentation. # The default value is: YES. SHOW_USED_FILES = YES # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This # will remove the Files entry from the Quick Index and from the Folder Tree View # (if specified). # The default value is: YES. SHOW_FILES = YES # Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces # page. This will remove the Namespaces entry from the Quick Index and from the # Folder Tree View (if specified). # The default value is: YES. SHOW_NAMESPACES = YES # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from # the version control system). Doxygen will invoke the program by executing (via # popen()) the command command input-file, where command is the value of the # FILE_VERSION_FILTER tag, and input-file is the name of an input file provided # by doxygen. Whatever the program writes to standard output is used as the file # version. For an example see the documentation. FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed # by doxygen. The layout file controls the global structure of the generated # output files in an output format independent way. To create the layout file # that represents doxygen's defaults, run doxygen with the -l option. You can # optionally specify a file name after the option, if omitted DoxygenLayout.xml # will be used as the name of the layout file. # # Note that if you run doxygen from a directory containing a file called # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE # tag is left empty. LAYOUT_FILE = # The CITE_BIB_FILES tag can be used to specify one or more bib files containing # the reference definitions. This must be a list of .bib files. The .bib # extension is automatically appended if omitted. This requires the bibtex tool # to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. # For LaTeX the style of the bibliography can be controlled using # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the # search path. Do not use file names with spaces, bibtex cannot handle them. See # also \cite for info how to create references. CITE_BIB_FILES = #--------------------------------------------------------------------------- # Configuration options related to warning and progress messages #--------------------------------------------------------------------------- # The QUIET tag can be used to turn on/off the messages that are generated to # standard output by doxygen. If QUIET is set to YES this implies that the # messages are off. # The default value is: NO. QUIET = NO # The WARNINGS tag can be used to turn on/off the warning messages that are # generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES # this implies that the warnings are on. # # Tip: Turn warnings on while writing the documentation. # The default value is: YES. WARNINGS = YES # If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate # warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag # will automatically be disabled. # The default value is: YES. WARN_IF_UNDOCUMENTED = YES # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some parameters # in a documented function, or documenting parameters that don't exist or using # markup commands wrongly. # The default value is: YES. WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that # are documented, but have no documentation for their parameters or return # value. If set to NO doxygen will only warn about wrong or incomplete parameter # documentation, but not about the absence of documentation. # The default value is: NO. WARN_NO_PARAMDOC = YES # The WARN_FORMAT tag determines the format of the warning messages that doxygen # can produce. The string should contain the $file, $line, and $text tags, which # will be replaced by the file and line number from which the warning originated # and the warning text. Optionally the format may contain $version, which will # be replaced by the version of the file (if it could be obtained via # FILE_VERSION_FILTER) # The default value is: $file:$line: $text. WARN_FORMAT = "FIX: $file:$line: $text" # The WARN_LOGFILE tag can be used to specify a file to which warning and error # messages should be written. If left blank the output is written to standard # error (stderr). WARN_LOGFILE = doxygen_warnings.txt #--------------------------------------------------------------------------- # Configuration options related to the input files #--------------------------------------------------------------------------- # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses # libiconv (or the iconv built into libc) for the transcoding. See the libiconv # documentation (see: http://www.gnu.org/software/libiconv) for the list of # possible encodings. # The default value is: UTF-8. INPUT_ENCODING = UTF-8 # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and # *.h) to filter out the source-files in the directories. If left blank the # following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, # *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, # *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, # *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, # *.qsf, *.as and *.js. FILE_PATTERNS = *.c *.cpp *.h *.hpp *.md # The RECURSIVE tag can be used to specify whether or not subdirectories should # be searched for input files as well. # The default value is: NO. RECURSIVE = YES # The EXCLUDE tag can be used to specify files and/or directories that should be # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. # # Note that relative paths are relative to the directory from which doxygen is # run. EXCLUDE = # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded # from the input. # The default value is: NO. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. # # Note that the wildcards are matched against the file with absolute path, so to # exclude all test directories for example use the pattern */test/* EXCLUDE_PATTERNS = # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test # # Note that the wildcards are matched against the file with absolute path, so to # exclude all test directories use the pattern */test/* EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or directories # that contain example code fragments that are included (see the \include # command). EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and # *.h) to filter out the source-files in the directories. If left blank all # files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be # searched for input files to be used with the \include or \dontinclude commands # irrespective of the value of the RECURSIVE tag. # The default value is: NO. EXAMPLE_RECURSIVE = NO # The IMAGE_PATH tag can be used to specify one or more files or directories # that contain images that are to be included in the documentation (see the # \image command). IMAGE_PATH = "./images" # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program # by executing (via popen()) the command: # # # # where is the value of the INPUT_FILTER tag, and is the # name of an input file. Doxygen will then use the output that the filter # program writes to standard output. If FILTER_PATTERNS is specified, this tag # will be ignored. # # Note that the filter must not add or remove lines; it is applied before the # code is scanned, but not when the output code is generated. If lines are added # or removed, the anchors will not be placed correctly. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. Doxygen will compare the file name with each pattern and apply the # filter if there is a match. The filters are a list of the form: pattern=filter # (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how # filters are used. If the FILTER_PATTERNS tag is empty or if none of the # patterns match the file name, INPUT_FILTER is applied. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER ) will also be used to filter the input files that are used for # producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). # The default value is: NO. FILTER_SOURCE_FILES = NO # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file # pattern. A pattern will override the setting for FILTER_PATTERN (if any) and # it is also possible to disable source filtering for a specific pattern using # *.ext= (so without naming a filter). # This tag requires that the tag FILTER_SOURCE_FILES is set to YES. FILTER_SOURCE_PATTERNS = # If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that # is part of the input, its contents will be placed on the main page # (index.html). This can be useful if you have a project on for instance GitHub # and want to reuse the introduction page also for the doxygen output. USE_MDFILE_AS_MAINPAGE = #--------------------------------------------------------------------------- # Configuration options related to source browsing #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will be # generated. Documented entities will be cross-referenced with these sources. # # Note: To get rid of all source code in the generated output, make sure that # also VERBATIM_HEADERS is set to NO. # The default value is: NO. SOURCE_BROWSER = YES # Setting the INLINE_SOURCES tag to YES will include the body of functions, # classes and enums directly into the documentation. # The default value is: NO. INLINE_SOURCES = NO # Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any # special comment blocks from generated source code fragments. Normal C, C++ and # Fortran comments will always remain visible. # The default value is: YES. STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES then for each documented # function all documented functions referencing it will be listed. # The default value is: NO. REFERENCED_BY_RELATION = NO # If the REFERENCES_RELATION tag is set to YES then for each documented function # all documented entities called/used by that function will be listed. # The default value is: NO. REFERENCES_RELATION = NO # If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set # to YES, then the hyperlinks from functions in REFERENCES_RELATION and # REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will # link to the documentation. # The default value is: YES. REFERENCES_LINK_SOURCE = YES # If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the # source code will show a tooltip with additional information such as prototype, # brief description and links to the definition and documentation. Since this # will make the HTML file larger and loading of large files a bit slower, you # can opt to disable this feature. # The default value is: YES. # This tag requires that the tag SOURCE_BROWSER is set to YES. SOURCE_TOOLTIPS = YES # If the USE_HTAGS tag is set to YES then the references to source code will # point to the HTML generated by the htags(1) tool instead of doxygen built-in # source browser. The htags tool is part of GNU's global source tagging system # (see http://www.gnu.org/software/global/global.html). You will need version # 4.8.6 or higher. # # To use it do the following: # - Install the latest version of global # - Enable SOURCE_BROWSER and USE_HTAGS in the config file # - Make sure the INPUT points to the root of the source tree # - Run doxygen as normal # # Doxygen will invoke htags (and that will in turn invoke gtags), so these # tools must be available from the command line (i.e. in the search path). # # The result: instead of the source browser generated by doxygen, the links to # source code will now point to the output of htags. # The default value is: NO. # This tag requires that the tag SOURCE_BROWSER is set to YES. USE_HTAGS = NO # If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a # verbatim copy of the header file for each class for which an include is # specified. Set to NO to disable this. # See also: Section \class. # The default value is: YES. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # Configuration options related to the alphabetical class index #--------------------------------------------------------------------------- # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all # compounds will be generated. Enable this if the project contains a lot of # classes, structs, unions or interfaces. # The default value is: YES. ALPHABETICAL_INDEX = YES # The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in # which the alphabetical index list will be split. # Minimum value: 1, maximum value: 20, default value: 5. # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. COLS_IN_ALPHA_INDEX = 5 # In case all classes in a project start with a common prefix, all classes will # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag # can be used to specify a prefix (or a list of prefixes) that should be ignored # while generating the index headers. # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. IGNORE_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the HTML output #--------------------------------------------------------------------------- # If the GENERATE_HTML tag is set to YES doxygen will generate HTML output # The default value is: YES. GENERATE_HTML = YES # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of # it. # The default directory is: html. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_OUTPUT = html # The HTML_FILE_EXTENSION tag can be used to specify the file extension for each # generated HTML page (for example: .htm, .php, .asp). # The default value is: .html. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_FILE_EXTENSION = .html # The HTML_HEADER tag can be used to specify a user-defined HTML header file for # each generated HTML page. If the tag is left blank doxygen will generate a # standard header. # # To get valid HTML the header file that includes any scripts and style sheets # that doxygen needs, which is dependent on the configuration options used (e.g. # the setting GENERATE_TREEVIEW). It is highly recommended to start with a # default header using # doxygen -w html new_header.html new_footer.html new_stylesheet.css # YourConfigFile # and then modify the file new_header.html. See also section "Doxygen usage" # for information on how to generate the default header that doxygen normally # uses. # Note: The header is subject to change so you typically have to regenerate the # default header when upgrading to a newer version of doxygen. For a description # of the possible markers and block names see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_HEADER = # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each # generated HTML page. If the tag is left blank doxygen will generate a standard # footer. See HTML_HEADER for more information on how to generate a default # footer and what special commands can be used inside the footer. See also # section "Doxygen usage" for information on how to generate the default footer # that doxygen normally uses. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading style # sheet that is used by each HTML page. It can be used to fine-tune the look of # the HTML output. If left blank doxygen will generate a default style sheet. # See also section "Doxygen usage" for information on how to generate the style # sheet that doxygen normally uses. # Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as # it is more robust and this tag (HTML_STYLESHEET) will in the future become # obsolete. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_STYLESHEET = # The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user- # defined cascading style sheet that is included after the standard style sheets # created by doxygen. Using this option one can overrule certain style aspects. # This is preferred over using HTML_STYLESHEET since it does not replace the # standard style sheet and is therefor more robust against future updates. # Doxygen will copy the style sheet file to the output directory. For an example # see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_EXTRA_STYLESHEET = # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the HTML output directory. Note # that these files will be copied to the base HTML output directory. Use the # $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these # files. In the HTML_STYLESHEET file, use the file name only. Also note that the # files will be copied as-is; there are no commands or markers available. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_EXTRA_FILES = # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen # will adjust the colors in the stylesheet and background images according to # this color. Hue is specified as an angle on a colorwheel, see # http://en.wikipedia.org/wiki/Hue for more information. For instance the value # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 # purple, and 360 is red again. # Minimum value: 0, maximum value: 359, default value: 220. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_HUE = 220 # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors # in the HTML output. For a value of 0 the output will use grayscales only. A # value of 255 will produce the most vivid colors. # Minimum value: 0, maximum value: 255, default value: 100. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_SAT = 100 # The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the # luminance component of the colors in the HTML output. Values below 100 # gradually make the output lighter, whereas values above 100 make the output # darker. The value divided by 100 is the actual gamma applied, so 80 represents # a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not # change the gamma. # Minimum value: 40, maximum value: 240, default value: 80. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_GAMMA = 80 # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML # page will contain the date and time when the page was generated. Setting this # to NO can help when comparing the output of multiple runs. # The default value is: YES. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_TIMESTAMP = YES # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_DYNAMIC_SECTIONS = NO # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries # shown in the various tree structured indices initially; the user can expand # and collapse entries dynamically later on. Doxygen will expand the tree to # such a level that at most the specified number of entries are visible (unless # a fully collapsed tree already exceeds this amount). So setting the number of # entries 1 will produce a full collapsed tree by default. 0 is a special value # representing an infinite number of entries and will result in a full expanded # tree by default. # Minimum value: 0, maximum value: 9999, default value: 100. # This tag requires that the tag GENERATE_HTML is set to YES. HTML_INDEX_NUM_ENTRIES = 100 # If the GENERATE_DOCSET tag is set to YES, additional index files will be # generated that can be used as input for Apple's Xcode 3 integrated development # environment (see: http://developer.apple.com/tools/xcode/), introduced with # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a # Makefile in the HTML output directory. Running make will produce the docset in # that directory and running make install will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at # startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html # for more information. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_DOCSET = NO # This tag determines the name of the docset feed. A documentation feed provides # an umbrella under which multiple documentation sets from a single provider # (such as a company or product suite) can be grouped. # The default value is: Doxygen generated docs. # This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_FEEDNAME = "Doxygen generated docs" # This tag specifies a string that should uniquely identify the documentation # set bundle. This should be a reverse domain-name style string, e.g. # com.mycompany.MyDocSet. Doxygen will append .docset to the name. # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_BUNDLE_ID = org.doxygen.Project # The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify # the documentation publisher. This should be a reverse domain-name style # string, e.g. com.mycompany.MyDocSet.documentation. # The default value is: org.doxygen.Publisher. # This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_ID = org.doxygen.Publisher # The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. # The default value is: Publisher. # This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_NAME = Publisher # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three # additional HTML index files: index.hhp, index.hhc, and index.hhk. The # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop # (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on # Windows. # # The HTML Help Workshop contains a compiler that can convert all HTML output # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML # files are now used as the Windows 98 help format, and will replace the old # Windows help format (.hlp) on all Windows platforms in the future. Compressed # HTML files also contain an index, a table of contents, and you can search for # words in the documentation. The HTML workshop also contains a viewer for # compressed HTML files. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_HTMLHELP = NO # The CHM_FILE tag can be used to specify the file name of the resulting .chm # file. You can add a path in front of the file if the result should not be # written to the html output directory. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. CHM_FILE = # The HHC_LOCATION tag can be used to specify the location (absolute path # including file name) of the HTML help compiler ( hhc.exe). If non-empty # doxygen will try to run the HTML help compiler on the generated index.hhp. # The file has to be specified with full path. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. HHC_LOCATION = # The GENERATE_CHI flag controls if a separate .chi index file is generated ( # YES) or that it should be included in the master .chm file ( NO). # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. GENERATE_CHI = NO # The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc) # and project file content. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. CHM_INDEX_ENCODING = # The BINARY_TOC flag controls whether a binary table of contents is generated ( # YES) or a normal table of contents ( NO) in the .chm file. # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members to # the table of contents of the HTML help documentation and to the tree view. # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. TOC_EXPAND = NO # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that # can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help # (.qch) of the generated HTML documentation. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_QHP = NO # If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify # the file name of the resulting .qch file. The path specified is relative to # the HTML output folder. # This tag requires that the tag GENERATE_QHP is set to YES. QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help # Project output. For more information please see Qt Help Project / Namespace # (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_QHP is set to YES. QHP_NAMESPACE = org.doxygen.Project # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt # Help Project output. For more information please see Qt Help Project / Virtual # Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- # folders). # The default value is: doc. # This tag requires that the tag GENERATE_QHP is set to YES. QHP_VIRTUAL_FOLDER = doc # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom # filter to add. For more information please see Qt Help Project / Custom # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- # filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_NAME = # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the # custom filter to add. For more information please see Qt Help Project / Custom # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- # filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this # project's filter section matches. Qt Help Project / Filter Attributes (see: # http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_SECT_FILTER_ATTRS = # The QHG_LOCATION tag can be used to specify the location of Qt's # qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the # generated .qhp file. # This tag requires that the tag GENERATE_QHP is set to YES. QHG_LOCATION = # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be # generated, together with the HTML files, they form an Eclipse help plugin. To # install this plugin and make it available under the help contents menu in # Eclipse, the contents of the directory containing the HTML and XML files needs # to be copied into the plugins directory of eclipse. The name of the directory # within the plugins directory should be the same as the ECLIPSE_DOC_ID value. # After copying Eclipse needs to be restarted before the help appears. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_ECLIPSEHELP = NO # A unique identifier for the Eclipse help plugin. When installing the plugin # the directory name containing the HTML and XML files should also have this # name. Each documentation set should have its own identifier. # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. ECLIPSE_DOC_ID = org.doxygen.Project # If you want full control over the layout of the generated HTML pages it might # be necessary to disable the index and replace it with your own. The # DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top # of each HTML page. A value of NO enables the index and the value YES disables # it. Since the tabs in the index contain the same information as the navigation # tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. DISABLE_INDEX = NO # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index # structure should be generated to display hierarchical information. If the tag # value is set to YES, a side panel will be generated containing a tree-like # index structure (just like the one that is generated for HTML Help). For this # to work a browser that supports JavaScript, DHTML, CSS and frames is required # (i.e. any modern browser). Windows users are probably better off using the # HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can # further fine-tune the look of the index. As an example, the default style # sheet generated by doxygen has an example that shows how to put an image at # the root of the tree instead of the PROJECT_NAME. Since the tree basically has # the same information as the tab index, you could consider setting # DISABLE_INDEX to YES when enabling this option. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_TREEVIEW = NO # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that # doxygen will group on one line in the generated HTML documentation. # # Note that a value of 0 will completely suppress the enum values from appearing # in the overview section. # Minimum value: 0, maximum value: 20, default value: 4. # This tag requires that the tag GENERATE_HTML is set to YES. ENUM_VALUES_PER_LINE = 4 # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used # to set the initial width (in pixels) of the frame in which the tree is shown. # Minimum value: 0, maximum value: 1500, default value: 250. # This tag requires that the tag GENERATE_HTML is set to YES. TREEVIEW_WIDTH = 250 # When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to # external symbols imported via tag files in a separate window. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. EXT_LINKS_IN_WINDOW = NO # Use this tag to change the font size of LaTeX formulas included as images in # the HTML documentation. When you change the font size after a successful # doxygen run you need to manually remove any form_*.png images from the HTML # output directory to force them to be regenerated. # Minimum value: 8, maximum value: 50, default value: 10. # This tag requires that the tag GENERATE_HTML is set to YES. FORMULA_FONTSIZE = 10 # Use the FORMULA_TRANPARENT tag to determine whether or not the images # generated for formulas are transparent PNGs. Transparent PNGs are not # supported properly for IE 6.0, but are supported on all modern browsers. # # Note that when changing this option you need to delete any form_*.png files in # the HTML output directory before the changes have effect. # The default value is: YES. # This tag requires that the tag GENERATE_HTML is set to YES. FORMULA_TRANSPARENT = YES # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see # http://www.mathjax.org) which uses client side Javascript for the rendering # instead of using prerendered bitmaps. Use this if you do not have LaTeX # installed or if you want to formulas look prettier in the HTML output. When # enabled you may also need to install MathJax separately and configure the path # to it using the MATHJAX_RELPATH option. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. USE_MATHJAX = NO # When MathJax is enabled you can set the default output format to be used for # the MathJax output. See the MathJax site (see: # http://docs.mathjax.org/en/latest/output.html) for more details. # Possible values are: HTML-CSS (which is slower, but has the best # compatibility), NativeMML (i.e. MathML) and SVG. # The default value is: HTML-CSS. # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_FORMAT = HTML-CSS # When MathJax is enabled you need to specify the location relative to the HTML # output directory using the MATHJAX_RELPATH option. The destination directory # should contain the MathJax.js script. For instance, if the mathjax directory # is located at the same level as the HTML output directory, then # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax # Content Delivery Network so you can quickly see the result without installing # MathJax. However, it is strongly recommended to install a local copy of # MathJax from http://www.mathjax.org before deployment. # The default value is: http://cdn.mathjax.org/mathjax/latest. # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax # extension names that should be enabled during MathJax rendering. For example # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_EXTENSIONS = # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces # of code that will be used on startup of the MathJax code. See the MathJax site # (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an # example see the documentation. # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_CODEFILE = # When the SEARCHENGINE tag is enabled doxygen will generate a search box for # the HTML output. The underlying search engine uses javascript and DHTML and # should work on any modern browser. Note that when using HTML help # (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) # there is already a search function so this one should typically be disabled. # For large projects the javascript based search engine can be slow, then # enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to # search using the keyboard; to jump to the search box use + S # (what the is depends on the OS and browser, but it is typically # , /