Merge commit 'fbb38e3b76451ecd6b3af3e6f1ca5374a7be2226' into build/cm…

…ake_version
giafranchini · Jan 4, 2024 · debb005 · debb005
2 parents 063867d + fbb38e3
commit debb005
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Showing 9 changed files with 365 additions and 219 deletions.
diff --git a/.github/workflows/iron.yaml b/.github/workflows/iron.yaml
@@ -0,0 +1,38 @@
+name: Ubuntu 22.04 Iron Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - iron
+
+jobs:
+  Build:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:iron-desktop-full-jammy
+
+    steps:
+    - name: Update
+      run: apt update
+
+    - name: Install PIP
+      run: apt install -y python3-pip lcov
+
+    - name: Install colcon tools
+      run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
+
+    - name: Checkout
+      uses: actions/checkout@v2
+
+    - name: Run Tests
+      uses: ros-tooling/action-ros-ci@0.3.5
+      with:
+        target-ros2-distro: iron
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+      if: always()
diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml
@@ -0,0 +1,38 @@
+name: Ubuntu 22.04 Rolling Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - iron
+
+jobs:
+  Build:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:rolling-desktop-full-jammy
+
+    steps:
+    - name: Update
+      run: apt update
+
+    - name: Install PIP
+      run: apt install -y python3-pip lcov
+
+    - name: Install colcon tools
+      run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
+
+    - name: Checkout
+      uses: actions/checkout@v2
+
+    - name: Run Tests
+      uses: ros-tooling/action-ros-ci@0.3.5
+      with:
+        target-ros2-distro: rolling
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+      if: always()
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(tf2_ros REQUIRED)
 include(ExternalProject)
 find_package(Git REQUIRED)
 
-ExternalProject_Add(
+externalproject_add(
   covariance_geometry_cpp
   PREFIX ${CMAKE_CURRENT_BINARY_DIR}/covariance_geometry_cpp
   GIT_REPOSITORY https://github.com/andreaostuni/covariance_geometry.git
@@ -36,8 +36,8 @@ include_directories(
 
 add_library(${PROJECT_NAME} SHARED src/covariance_geometry_ros.cpp)
 target_include_directories(
-  ${PROJECT_NAME} 
-  PUBLIC 
+  ${PROJECT_NAME}
+  PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>"
 )
@@ -75,7 +75,7 @@ install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/covariance_geometry_cpp/src/lib/ D
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 
-ament_export_dependencies( 
+ament_export_dependencies(
   Eigen3
   covariance_geometry_cpp
   geometry_msgs
@@ -86,12 +86,12 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  
+
   set(TEST_NAMES
     conversion_test
     # composition_test
-    )
-  
+  )
+
   foreach(TEST_NAME ${TEST_NAMES})
     ament_add_gtest(${TEST_NAME} test/${TEST_NAME}.cpp)
 

diff --git a/README.md b/README.md
@@ -1,2 +1,6 @@
 ## covariance_geometry_ros
+
+[![Ubuntu 22.04 Iron Build](https://github.com/giafranchini/covariance_geometry_ros/actions/workflows/iron.yaml/badge.svg)](https://github.com/giafranchini/covariance_geometry_ros/actions/workflows/iron.yaml)
+[![Ubuntu 22.04 Rolling Build](https://github.com/giafranchini/covariance_geometry_ros/actions/workflows/rolling.yaml/badge.svg)](https://github.com/giafranchini/covariance_geometry_ros/actions/workflows/rolling.yaml)
+
 A simple ROS2 wrapper for poses and covariances composition based on covariance_geometry library.
diff --git a/include/covariance_geometry_ros/covariance_geometry_ros.hpp b/include/covariance_geometry_ros/covariance_geometry_ros.hpp
@@ -1,5 +1,18 @@
-#ifndef COVARIANCE_GEOMETRY_ROS_HPP_
-#define COVARIANCE_GEOMETRY_ROS_HPP_
+// Copyright 2023 Andrea Ostuni, Giacomo Franchini - PIC4SeR
+//
+// 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
+//
+//     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.
+#ifndef COVARIANCE_GEOMETRY_ROS__COVARIANCE_GEOMETRY_ROS_HPP_
+#define COVARIANCE_GEOMETRY_ROS__COVARIANCE_GEOMETRY_ROS_HPP_
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_with_covariance.hpp>
@@ -10,83 +23,103 @@ using PoseWithCovariance = geometry_msgs::msg::PoseWithCovariance;
 
 namespace covariance_geometry
 {
-  /** @name  Pose composition: out = a (+) b
+/** @name  Pose composition: out = a (+) b
   @{ */
-  void compose(const Pose &a, const Pose &b, Pose &out);
-  void compose(const PoseWithCovariance &a, const PoseWithCovariance &b,
-               PoseWithCovariance &out);
-  void compose(const PoseWithCovariance &a, const Pose &b,
-               PoseWithCovariance &out);
-  void compose(const Pose &a, const PoseWithCovariance &b,
-               PoseWithCovariance &out);
-
-  // Return-by-value versions:
-  static inline Pose compose(const Pose &a, const Pose &b) {
-    Pose out;
-    compose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance compose(const PoseWithCovariance &a,
-                                           const PoseWithCovariance &b) {
-    PoseWithCovariance out;
-    compose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance compose(const PoseWithCovariance &a,
-                                           const Pose &b) {
-    PoseWithCovariance out;
-    compose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance compose(const Pose &a,
-                                           const PoseWithCovariance &b) {
-    PoseWithCovariance out;
-    compose(a, b, out);
-    return out;
-  }
+void compose(const Pose & a, const Pose & b, Pose & out);
+void compose(
+  const PoseWithCovariance & a, const PoseWithCovariance & b,
+  PoseWithCovariance & out);
+void compose(
+  const PoseWithCovariance & a, const Pose & b,
+  PoseWithCovariance & out);
+void compose(
+  const Pose & a, const PoseWithCovariance & b,
+  PoseWithCovariance & out);
 
-  // Return-by-value versions using TF2 transforms:
-  // PoseWithCovariance compose(const PoseWithCovariance &a,
-  //                            const tf2::Transform &b);
-  /** @} */
-  /** @name  Pose inverse composition (a "as seen from" b): out = a (-) b
+// Return-by-value versions:
+static inline Pose compose(const Pose & a, const Pose & b)
+{
+  Pose out;
+  compose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance compose(
+  const PoseWithCovariance & a,
+  const PoseWithCovariance & b)
+{
+  PoseWithCovariance out;
+  compose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance compose(
+  const PoseWithCovariance & a,
+  const Pose & b)
+{
+  PoseWithCovariance out;
+  compose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance compose(
+  const Pose & a,
+  const PoseWithCovariance & b)
+{
+  PoseWithCovariance out;
+  compose(a, b, out);
+  return out;
+}
+
+// Return-by-value versions using TF2 transforms:
+// PoseWithCovariance compose(const PoseWithCovariance &a,
+//                            const tf2::Transform &b);
+/** @} */
+/** @name  Pose inverse composition (a "as seen from" b): out = a (-) b
       @{ */
-  void inverseCompose(const Pose &a, const Pose &b, Pose &out);
-  void inverseCompose(const PoseWithCovariance &a, const PoseWithCovariance &b,
-                      PoseWithCovariance &out);
-  void inverseCompose(const PoseWithCovariance &a, const Pose &b,
-                      PoseWithCovariance &out);
-  void inverseCompose(const Pose &a, const PoseWithCovariance &b,
-                      PoseWithCovariance &out);
-  // Return-by-value versions:
-  static inline Pose inverseCompose(const Pose &a, const Pose &b) {
-    Pose out;
-    inverseCompose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance inverseCompose(const PoseWithCovariance &a,
-                                                  const PoseWithCovariance &b) {
-    PoseWithCovariance out;
-    inverseCompose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance inverseCompose(const PoseWithCovariance &a,
-                                                  const Pose &b) {
-    PoseWithCovariance out;
-    inverseCompose(a, b, out);
-    return out;
-  }
-  static inline PoseWithCovariance inverseCompose(const Pose &a,
-                                                  const PoseWithCovariance &b) {
-    PoseWithCovariance out;
-    inverseCompose(a, b, out);
-    return out;
-  }
-    // Return-by-value versions using TF2 transforms:
-    // PoseWithCovariance inverseCompose(const PoseWithCovariance &a,
-    //                                   const tf2::Transform &b);
+void inverseCompose(const Pose & a, const Pose & b, Pose & out);
+void inverseCompose(
+  const PoseWithCovariance & a, const PoseWithCovariance & b,
+  PoseWithCovariance & out);
+void inverseCompose(
+  const PoseWithCovariance & a, const Pose & b,
+  PoseWithCovariance & out);
+void inverseCompose(
+  const Pose & a, const PoseWithCovariance & b,
+  PoseWithCovariance & out);
+// Return-by-value versions:
+static inline Pose inverseCompose(const Pose & a, const Pose & b)
+{
+  Pose out;
+  inverseCompose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance inverseCompose(
+  const PoseWithCovariance & a,
+  const PoseWithCovariance & b)
+{
+  PoseWithCovariance out;
+  inverseCompose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance inverseCompose(
+  const PoseWithCovariance & a,
+  const Pose & b)
+{
+  PoseWithCovariance out;
+  inverseCompose(a, b, out);
+  return out;
+}
+static inline PoseWithCovariance inverseCompose(
+  const Pose & a,
+  const PoseWithCovariance & b)
+{
+  PoseWithCovariance out;
+  inverseCompose(a, b, out);
+  return out;
+}
+// Return-by-value versions using TF2 transforms:
+// PoseWithCovariance inverseCompose(const PoseWithCovariance &a,
+//                                   const tf2::Transform &b);
 
-    /** @} */        
-} // namespace covariance_geometry
+/** @} */
+}  // namespace covariance_geometry
 
-#endif // COVARIANCE_GEOMETRY_ROS_HPP_
+#endif  // COVARIANCE_GEOMETRY_ROS__COVARIANCE_GEOMETRY_ROS_HPP_