diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 54d4e3ab4..9b705f0ca 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -8,7 +8,7 @@ jobs: name: Ubuntu Focal CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@focal @@ -22,7 +22,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@jammy diff --git a/BUILD.bazel b/BUILD.bazel index 34380b3f9..b89cd10a1 100644 --- a/BUILD.bazel +++ b/BUILD.bazel @@ -1,11 +1,15 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_FEATURES", + "GZ_ROOT", "GZ_VISIBILITY", - "cmake_configure_file", - "generate_include_header", - "gz_config_header", + "gz_configure_header", "gz_export_header", + "gz_include_header", +) +load( + "@gz//bazel/lint:lint.bzl", + "add_lint_tests", ) package( @@ -13,25 +17,15 @@ package( features = GZ_FEATURES, ) -licenses(["notice"]) +licenses(["notice"]) # Apache-2.0 exports_files(["LICENSE"]) -PROJECT_NAME = "gz-math" - -PROJECT_MAJOR = 8 - -PROJECT_MINOR = 0 - -PROJECT_PATCH = 0 - -# Generates config.hh based on the version numbers in CMake code. -gz_config_header( +gz_configure_header( name = "config", src = "include/gz/math/config.hh.in", cmakelists = ["CMakeLists.txt"], - project_name = PROJECT_NAME, - project_version = (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH), + package = "math", ) gz_export_header( @@ -54,7 +48,7 @@ sources = glob( exclude = ["src/*_TEST.cc"], ) -generate_include_header( +gz_include_header( name = "mathhh_genrule", out = "include/gz/math.hh", hdrs = public_headers_no_gen + [ @@ -70,20 +64,19 @@ public_headers = public_headers_no_gen + [ ] cc_library( - name = "gz_math", + name = "math", srcs = sources + private_headers, hdrs = public_headers, includes = ["include"], + deps = [ + GZ_ROOT + "utils", + ], ) -# use shared library only when absolutely needd -cc_binary( - name = "libgz-math8.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-math8.so"], - linkshared = True, - deps = [ - ":gz_math", +test_sources = glob( + [ + "src/*_TEST.cc", + "src/graph/*_TEST.cc", ], ) @@ -91,13 +84,10 @@ cc_binary( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], deps = [ - ":gz_math", + ":math", "@gtest", "@gtest//:gtest_main", ], -) for src in glob( - [ - "src/*_TEST.cc", - "src/graph/*_TEST.cc", - ], -)] +) for src in test_sources] + +add_lint_tests() diff --git a/CMakeLists.txt b/CMakeLists.txt index 6bf1f2989..e689005cc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,9 +27,14 @@ option(SKIP_SWIG "Skip generating ruby bindings via Swig" OFF) +set(skip_pybind11_default_value OFF) +if (MSVC) + set(skip_pybind11_default_value ON) +endif() + option(SKIP_PYBIND11 "Skip generating Python bindings via pybind11" - OFF) + ${skip_pybind11_default_value}) include(CMakeDependentOption) cmake_dependent_option(USE_SYSTEM_PATHS_FOR_RUBY_INSTALLATION diff --git a/COPYING b/COPYING deleted file mode 100644 index 4909afd04..000000000 --- a/COPYING +++ /dev/null @@ -1,178 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. For the purposes of this definition, - "control" means (i) the power, direct or indirect, to cause the - direction or management of such entity, whether by contract or - otherwise, or (ii) ownership of fifty percent (50%) or more of the - outstanding shares, or (iii) beneficial ownership of such entity. - - "You" (or "Your") shall mean an individual or Legal Entity - exercising permissions granted by this License. - - "Source" form shall mean the preferred form for making modifications, - including but not limited to software source code, documentation - source, and configuration files. - - "Object" form shall mean any form resulting from mechanical - transformation or translation of a Source form, including but - not limited to compiled object code, generated documentation, - and conversions to other media types. - - "Work" shall mean the work of authorship, whether in Source or - Object form, made available under the License, as indicated by a - copyright notice that is included in or attached to the work - (an example is provided in the Appendix below). - - "Derivative Works" shall mean any work, whether in Source or Object - form, that is based on (or derived from) the Work and for which the - editorial revisions, annotations, elaborations, or other modifications - represent, as a whole, an original work of authorship. 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Unless required by applicable law or - agreed to in writing, Licensor provides the Work (and each - Contributor provides its Contributions) on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or - implied, including, without limitation, any warranties or conditions - of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A - PARTICULAR PURPOSE. You are solely responsible for determining the - appropriateness of using or redistributing the Work and assume any - risks associated with Your exercise of permissions under this License. - - 8. Limitation of Liability. In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - diff --git a/Changelog.md b/Changelog.md index c326f6056..e4f0e5437 100644 --- a/Changelog.md +++ b/Changelog.md @@ -217,6 +217,14 @@ ## Gazebo Math 6.x +## Gazebo Math 6.13.0 (2022-08-31) + +1. Support migration and migrate headers + * [Pull request #483](https://github.com/gazebosim/gz-math/pull/483) + +1. Remove redundant namespace references + * [Pull request #479](https://github.com/gazebosim/gz-math/pull/479) + ## Gazebo Math 6.12.0 (2022-07-27) 1. Added Helper function isTimeString to Python diff --git a/LICENSE b/LICENSE index bd33c4376..4909afd04 100644 --- a/LICENSE +++ b/LICENSE @@ -1,15 +1,178 @@ -Software License Agreement (Apache License) + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -Copyright 2012 Open Source Robotics Foundation + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS - http://www.apache.org/licenses/LICENSE-2.0 -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. diff --git a/README.md b/README.md index e372322b6..ed3efb770 100644 --- a/README.md +++ b/README.md @@ -47,7 +47,7 @@ Math types. # Install -See the [installation tutorial](https://gazebosim.org/api/math/6.8/install.html). +See the [installation tutorial](https://gazebosim.org/api/math/7/install.html). # Usage diff --git a/eigen3/BUILD.bazel b/eigen3/BUILD.bazel index 508cb3138..2b3ba9537 100644 --- a/eigen3/BUILD.bazel +++ b/eigen3/BUILD.bazel @@ -1,15 +1,13 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", + "GZ_FEATURES", "GZ_ROOT", "GZ_VISIBILITY", + "gz_configure_header", + "gz_export_header", + "gz_include_header", ) -package( - default_visibility = GZ_VISIBILITY, -) - -licenses(["notice"]) - public_headers = glob([ "include/gz/math/eigen3/*.hh", ]) @@ -19,9 +17,16 @@ cc_library( srcs = public_headers, hdrs = public_headers, includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ + GZ_ROOT + "math", "@eigen3", - GZ_ROOT + "gz_math", + ], +) + +test_sources = glob( + [ + "src/*_TEST.cc", ], ) @@ -33,8 +38,4 @@ cc_library( "@gtest", "@gtest//:gtest_main", ], -) for src in glob( - [ - "src/*_TEST.cc", - ], -)] +) for src in test_sources] diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel new file mode 100644 index 000000000..c3902e6a3 --- /dev/null +++ b/examples/BUILD.bazel @@ -0,0 +1,23 @@ +load( + "@gz//bazel/skylark:build_defs.bzl", + "GZ_ROOT", + "GZ_VISIBILITY", +) +load( + "@gz//bazel/lint:lint.bzl", + "add_lint_tests", +) + +sources = glob( + ["*.cc"], +) + +[cc_binary( + name = src.replace(".cc", ""), + srcs = [src], + deps = [ + GZ_ROOT + "math", + ], +) for src in sources] + +add_lint_tests() diff --git a/include/gz/math/PID.hh b/include/gz/math/PID.hh index 0b3276b89..ce52c5559 100644 --- a/include/gz/math/PID.hh +++ b/include/gz/math/PID.hh @@ -155,6 +155,21 @@ namespace gz /// \return The offset value public: double CmdOffset() const; + /// \brief Update the Pid loop with nonuniform time step size. + /// \param[in] _error Error since last call (p_state - p_target). + /// \param[in] _errorRate Estimate of error rate, that can be used + /// when a smoother estimate is available than the finite difference + /// used by Update(const double _error, + /// const std::chrono::duration &_dt) + /// \param[in] _dt Change in time since last update call. + /// Normally, this is called at every time step, + /// The return value is an updated command to be passed + /// to the object being controlled. + /// \return the command value + public: double Update(const double _error, + double _errorRate, + const std::chrono::duration &_dt); + /// \brief Update the Pid loop with nonuniform time step size. /// \param[in] _error Error since last call (p_state - p_target). /// \param[in] _dt Change in time since last update call. diff --git a/src/Color_TEST.cc b/src/Color_TEST.cc index 4dac211d2..33b1d8d3b 100644 --- a/src/Color_TEST.cc +++ b/src/Color_TEST.cc @@ -74,6 +74,14 @@ TEST(Color, Color) EXPECT_FLOAT_EQ(0.0f, clr0.B()); EXPECT_FLOAT_EQ(1.0f, clr0.A()); EXPECT_EQ(clr0.AsRGBA(), 255u); + + auto clrcpy = math::Color(clr0); + EXPECT_FLOAT_EQ(0.0f, clrcpy.R()); + EXPECT_FLOAT_EQ(0.0f, clrcpy.G()); + EXPECT_FLOAT_EQ(0.0f, clrcpy.B()); + EXPECT_FLOAT_EQ(1.0f, clrcpy.A()); + EXPECT_EQ(clrcpy.AsRGBA(), 255u); + clr0.A(0.0); EXPECT_EQ(clr0.AsRGBA(), 0u); @@ -256,6 +264,12 @@ TEST(Color, Color) EXPECT_TRUE(math::equal(0.1f, clr.G())); EXPECT_TRUE(math::equal(0.2f, clr.B())); EXPECT_TRUE(math::equal(0.3f, clr.A())); + + clrcpy = math::Color(clr); + EXPECT_TRUE(math::equal(0.25f, clrcpy.R())); + EXPECT_TRUE(math::equal(0.1f, clrcpy.G())); + EXPECT_TRUE(math::equal(0.2f, clrcpy.B())); + EXPECT_TRUE(math::equal(0.3f, clrcpy.A())); } diff --git a/src/Material_TEST.cc b/src/Material_TEST.cc index c79a3a817..9424d0ed4 100644 --- a/src/Material_TEST.cc +++ b/src/Material_TEST.cc @@ -114,6 +114,13 @@ TEST(MaterialTest, Accessors) EXPECT_TRUE(mat.Name().empty()); } + { + Material mat("wood"); + EXPECT_FALSE(mat.Name().empty()); + mat.SetName("MyWood"); + EXPECT_EQ("MyWood", mat.Name()); + } + { Material material; material.SetToNearestDensity(19300.0); diff --git a/src/PID.cc b/src/PID.cc index 3802a7b74..d96067aa7 100644 --- a/src/PID.cc +++ b/src/PID.cc @@ -160,6 +160,23 @@ double PID::Update(const double _error, return 0.0; } + // Pass in the derivative error + return this->Update(_error, + (_error - this->dataPtr->pErrLast) / _dt.count(), _dt); +} + +///////////////////////////////////////////////// +double PID::Update(const double _error, + double _errorRate, + const std::chrono::duration &_dt) +{ + if (_dt == std::chrono::duration(0) || + isnan(_error) || std::isinf(_error) || + isnan(_errorRate) || std::isinf(_errorRate)) + { + return 0.0; + } + double pTerm, dTerm; this->dataPtr->pErr = _error; @@ -178,13 +195,9 @@ double PID::Update(const double _error, this->dataPtr->iMin, this->dataPtr->iMax); - // Calculate the derivative error - if (_dt != std::chrono::duration(0)) - { - this->dataPtr->dErr = - (this->dataPtr->pErr - this->dataPtr->pErrLast) / _dt.count(); - this->dataPtr->pErrLast = this->dataPtr->pErr; - } + // Use the provided error rate + this->dataPtr->dErr = _errorRate; + this->dataPtr->pErrLast = this->dataPtr->pErr; // Calculate derivative contribution to command dTerm = this->dataPtr->dGain * this->dataPtr->dErr; diff --git a/src/PID_TEST.cc b/src/PID_TEST.cc index b25998f1d..0a6907dd4 100644 --- a/src/PID_TEST.cc +++ b/src/PID_TEST.cc @@ -145,6 +145,15 @@ TEST(PidTest, Update) EXPECT_DOUBLE_EQ(pe, 5); EXPECT_DOUBLE_EQ(ie, 1.4); EXPECT_DOUBLE_EQ(de, 0.0); + + pid.Reset(); + pid.SetIGain(0.0); + pid.SetIMin(0.0); + result = pid.Update(5.0, 1.0, std::chrono::duration(10.0)); + EXPECT_DOUBLE_EQ(result, -5.5); + + result = pid.Update(5.0, 1.0, std::chrono::duration(0.0)); + EXPECT_DOUBLE_EQ(result, 0); } ///////////////////////////////////////////////// diff --git a/src/python_pybind11/src/PID.cc b/src/python_pybind11/src/PID.cc index a3107d9bf..1bbc1903a 100644 --- a/src/python_pybind11/src/PID.cc +++ b/src/python_pybind11/src/PID.cc @@ -102,7 +102,13 @@ void defineMathPID(py::module &m, const std::string &typestr) &Class::CmdOffset, "Get the offset value for the command.") .def("update", - &Class::Update, + py::overload_cast &>(&Class::Update), + "Update the Pid loop with nonuniform time step size, and custom error " + "rate.") + .def("update", + py::overload_cast &>(&Class::Update), "Update the Pid loop with nonuniform time step size.") .def("set_cmd", &Class::SetCmd, diff --git a/src/ruby/PID.i b/src/ruby/PID.i index 300804a9b..73c752a3a 100644 --- a/src/ruby/PID.i +++ b/src/ruby/PID.i @@ -83,6 +83,11 @@ namespace gz double Update(const double error, const double dt) { return (*$self).Update(error, std::chrono::duration(dt)); } + double Update(const double error, double errorRate, const double dt) { + return (*$self).Update(error, errorRate, + std::chrono::duration(dt)); + } + } } } diff --git a/test/BUILD.bazel b/test/BUILD.bazel new file mode 100644 index 000000000..9000f4abc --- /dev/null +++ b/test/BUILD.bazel @@ -0,0 +1,13 @@ +load( + "@gz//bazel/skylark:build_defs.bzl", + "GZ_FEATURES", + "GZ_VISIBILITY", +) +load( + "@gz//bazel/lint:lint.bzl", + "add_lint_tests", +) + +# Currently test directory only applies to CMake builds + +add_lint_tests()