Merge cnkalman and cnmatrix

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "libs/cnkalman"]
-	path = libs/cnkalman
-	url = ../cnkalman.git
+[submodule "libs/cnkalman/libs/pybind11"]
+	path = libs/cnkalman/libs/pybind11
+	url = [email protected]:pybind/pybind11.git

CMakeLists.txt

@@ -188,12 +188,7 @@ SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
 SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
-if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/libs/cnkalman/CMakeLists.txt")
-  find_program(GIT git)
-  message("Submodule seems empty; populating...")
-  execute_process(COMMAND ${GIT} submodule update --init --recursive WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-endif()
-
+add_subdirectory(libs/cnmatrix)
 add_subdirectory(libs/cnkalman)
 
 add_subdirectory(redist)

libs/cnkalman/.dockerignore

@@ -0,0 +1 @@
+cmake-build-*

libs/cnkalman/.github/workflows/build_wheels.yml

@@ -0,0 +1,52 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Build Wheels
+
+on:
+  push:
+  create:
+    tags: [ master ]
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, windows-2019]
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - uses: actions/setup-python@v2
+        name: Install Python
+        with:
+          python-version: '3.7'
+
+      - name: Get Dependencies
+        run: pip install twine build
+
+      - name: Build wheels
+        uses: pypa/[email protected]
+        env:
+          CIBW_SKIP: "*-win32 *-manylinux_i686 cp36-*"
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl
+
+      - name: Upload with twine
+        run: |
+          python -m pip install twine
+          python -m twine upload wheelhouse/*.whl --skip-existing
+        continue-on-error: true
+        env:
+          TWINE_USERNAME: __token__
+          TWINE_PASSWORD: ${{ secrets.TWINE_TOKEN }}

libs/cnkalman/.github/workflows/cmake.yml

@@ -0,0 +1,112 @@
+name: Build and Test
+
+on:
+  pull_request:
+  push:
+  release:
+    types:
+      - created
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-18.04, windows-latest]
+        include:
+        - os: ubuntu-18.04
+          build_type: Debug
+        - os: windows-latest
+          build_type: Debug
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        fetch-depth: 0
+        submodules: recursive
+    - if: contains(matrix.os, 'ubuntu')
+      name: Get Dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install p7zip-full build-essential zlib1g-dev liblapacke-dev libopenblas-dev libatlas-base-dev python3 python3-pip apt-transport-https python-virtualenv ninja-build libeigen3-dev googletest ${{ matrix.deps }} python3-setuptools
+    - uses: actions/setup-python@v2
+      with:
+        python-version: '3.x'
+    - name: Get python Dependencies
+      run: pip3 install filterpy numpy sympy symengine
+    - name: Setup windows flags
+      if: contains(matrix.os, 'windows') && matrix.build_type == 'Release'
+      id: flags
+      run: echo "::set-output name=SETUP_PY_FLAGS::-G 'Visual Studio 16 2019'"
+    - name: Get mac dependencies
+      if: contains(matrix.os, 'macos')
+      run: |
+        brew install freeglut lapack openblas
+    - name: Create Build Environment
+      # Some projects don't allow in-source building, so create a separate build directory
+      # We'll use this as our working directory for all subsequent commands
+      run: cmake -E make_directory ${{runner.workspace}}/build
+
+    - name: Configure CMake
+      shell: bash
+      working-directory: ${{runner.workspace}}/build
+      run: cmake $GITHUB_WORKSPACE -DUSE_EIGEN=On -DDOWNLOAD_EIGEN=On -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DENABLE_TESTS=ON -DCMAKE_INSTALL_PREFIX=install_root ${{matrix.config_flags}}
+
+    - name: Build
+      working-directory: ${{runner.workspace}}/build
+      shell: bash
+      # Execute the build.  You can specify a specific target with "--target <NAME>"
+      run: cmake --build . --config $BUILD_TYPE -v
+
+    - name: Install
+      working-directory: ${{runner.workspace}}/build
+      shell: bash
+      # Execute the build.  You can specify a specific target with "--target <NAME>"
+      run: cmake --build . --config $BUILD_TYPE --target install
+
+    - name: Set bundle name
+      id: bundle
+      run: echo "::set-output name=BUNDLE_FILE_NAME::cnkalman-$(git describe --tags)-${{ matrix.os }}.zip"
+
+    - name: Bundle
+      if: matrix.build_type == 'Release'
+      working-directory: ${{runner.workspace}}/cnkalman
+      run: 7z a ${{runner.workspace}}/build/${{ steps.bundle.outputs.BUNDLE_FILE_NAME }} ${{runner.workspace}}/build/install_root/*
+
+    - uses: actions/upload-artifact@v2
+      name: Upload
+      if: matrix.build_type == 'Release'
+      with:
+        name: cnkalman-${{ matrix.os }}-${{ matrix.build_type }}
+        path: | 
+          ${{runner.workspace}}/build/${{steps.bundle.outputs.BUNDLE_FILE_NAME}}
+    - name: Get release
+      id: get_release
+      if: github.event_name == 'release'
+      uses: bruceadams/[email protected]
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Upload Release Asset
+      id: upload-release-asset
+      continue-on-error: true
+      if: github.event_name == 'release'
+      uses: actions/upload-release-asset@v1
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        upload_url: ${{ steps.get_release.outputs.upload_url }}
+        asset_path: ${{runner.workspace}}/build/${{steps.bundle.outputs.BUNDLE_FILE_NAME}}
+        asset_name: ${{steps.bundle.outputs.BUNDLE_FILE_NAME}}
+        asset_content_type: application/zip
+
+    - name: Test
+      working-directory: ${{runner.workspace}}/build
+      shell: bash
+      # Execute tests defined by the CMake configuration.
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C $BUILD_TYPE --output-on-failure -j30

libs/cnkalman/.gitignore

@@ -0,0 +1,43 @@
+# Linux
+.idea
+*.o
+*.so
+lib
+cmake-build-*
+build*
+
+# Temp files
+*~
+*/\#*\#
+\#*\#
+
+
+# Windows specific
+*.dll
+*.exe
+obj/
+bin/
+x64/
+packages
+.vs/
+Debug/
+Release/
+*.VC.db
+*.user
+*.ipch
+*.tlog
+*.d
+build
+
+.options
+.zip
+.avi
+
+*/__pycache__
+*.pyc
+
+venv
+.eggs/
+dist/
+
+**/*.egg-info/

libs/cnkalman/Android.mk

@@ -0,0 +1,13 @@
+LOCAL_PATH := $(call my-dir)
+
+include $(CLEAR_VARS)
+LOCAL_MODULE                := libcnkalman
+LOCAL_SRC_FILES             := src/iekf.c src/kalman.c src/model.cc src/numerical_diff.c
+LOCAL_CPP_EXTENSION         := .cc
+LOCAL_CFLAGS                := -Wno-error=unused-parameter -Wno-error=unused-variable
+LOCAL_MODULE_CLASS          := STATIC_LIBRARIES
+LOCAL_C_INCLUDES            := $(LOCAL_PATH)/include $(LOCAL_PATH)/src
+LOCAL_EXPORT_C_INCLUDE_DIRS := $(LOCAL_PATH)/include
+LOCAL_STATIC_LIBRARIES      := libcnmatrix
+LOCAL_PROPRIETARY_MODULE    := true
+include $(BUILD_STATIC_LIBRARY)

libs/cnkalman/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.12)
+
+project(cnkalman LANGUAGES C CXX)
+include(CTest)
+
+include(CheckIncludeFile)
+include (CheckSymbolExists)
+
+set(CMAKE_CXX_STANDARD 17)
+
+option(USE_ASAN "Use address sanitizer" OFF)
+
+if(NOT PYTHON_EXECUTABLE)
+  find_package (Python 3.8 COMPONENTS Interpreter Development REQUIRED)
+endif()
+
+if(UNIX)
+  add_compile_options(-fPIC -Wall -Wno-unused-variable -Wno-switch -Wno-parentheses -Wno-missing-braces -Werror=return-type -fvisibility=hidden -Werror=vla -fno-math-errno -Werror=pointer-arith)
+  SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${SHARED_FLAGS} -std=gnu99 -Werror=incompatible-pointer-types -Werror=implicit-function-declaration -Werror=missing-field-initializers ")
+
+  if(USE_ASAN)
+    add_compile_options(-fsanitize=address)
+    add_link_options(-fsanitize=address)
+  endif()
+endif()
+
+find_package(sciplot)
+if(sciplot_FOUND)
+  message("Using sciplot...")
+  add_compile_definitions(HAS_SCIPLOT)
+else()
+  message("Can't use sciplot...")
+endif()
+
+add_subdirectory(libs/pybind11)
+
+add_subdirectory(src)
+
+set(cnkalman_root_source_dir ${CMAKE_CURRENT_SOURCE_DIR} CACHE INTERNAL "")
+execute_process(COMMAND  ${CMAKE_COMMAND} -E env PYTHONPATH=${cnkalman_root_source_dir} python3 -c "import cnkalman.codegen as cg"
+        RESULT_VARIABLE INVALID_PYTHON3 ERROR_QUIET)
+set(INVALID_PYTHON3 ${INVALID_PYTHON3} CACHE BOOL "Whether the version of python supports generation or not" FORCE)
+function(cnkalman_generate_code FILE)
+  get_filename_component(DIR ${CMAKE_CURRENT_SOURCE_DIR}/${FILE} DIRECTORY)
+  get_filename_component(NAME ${CMAKE_CURRENT_SOURCE_DIR}/${FILE} NAME_WE)
+
+  if(NOT INVALID_PYTHON3)
+    add_custom_command(OUTPUT ${DIR}/${NAME}.gen.h COMMAND
+            ${CMAKE_COMMAND} -E env PYTHONPATH=${cnkalman_root_source_dir} python3 ${CMAKE_CURRENT_SOURCE_DIR}/${FILE} --cnkalman-generate-source
+            DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${FILE} ${cnkalman_root_source_dir}/cnkalman/codegen.py
+            COMMENT "Generating ${DIR}/${NAME}.gen.h...")
+  else()
+    message("Using provided ${DIR}/${NAME}.gen.h")
+  endif()
+endfunction()
+
+if(${CMAKE_CURRENT_SOURCE_DIR} STREQUAL ${CMAKE_SOURCE_DIR})
+if(ENABLE_TESTS)
+  add_subdirectory(tests)
+endif()
+endif()
+
+
+install(DIRECTORY include/cnkalman DESTINATION include)
+include(GNUInstallDirs)
+configure_file(cnkalman.pc.in cnkalman.pc @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/cnkalman.pc" DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
+
+

libs/cnkalman/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2016-2018 <>< Charles Lohr, J. David Berger, Michael W. Turvey
+
+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.