refactor: restructure vortex_utils and add more C++ utils #10

Andeshog · 2025-10-11T15:17:01Z

Renamed test folders for more clarity
Extended the C++ library
More fitting namespaces

Next thing to do after this PR is merged is to refactor the code in vortex-auv to use this library and enforce the new standard of using it.

codecov · 2025-10-11T15:20:50Z

Codecov Report

❌ Patch coverage is 79.25311% with 50 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.40%. Comparing base (f109e3b) to head (4ed8328).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
cpp_test/test_types.cpp	56.25%	0 Missing and 28 partials ⚠️
cpp_test/test_math.cpp	85.71%	0 Missing and 17 partials ⚠️
src/math.cpp	91.30%	2 Missing and 2 partials ⚠️
include/vortex/utils/math.hpp	50.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #10      +/-   ##
==========================================
- Coverage   90.54%   89.40%   -1.15%     
==========================================
  Files           6        6              
  Lines         423      500      +77     
  Branches       53      142      +89     
==========================================
+ Hits          383      447      +64     
+ Misses         26        4      -22     
- Partials       14       49      +35

Flag	Coverage Δ
unittests	`89.40% <79.25%> (-1.15%)`	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
include/vortex/utils/types.hpp	`93.87% <100.00%> (ø)`
py_test/test_utils.py	`100.00% <100.00%> (ø)`
include/vortex/utils/math.hpp	`50.00% <50.00%> (ø)`
src/math.cpp	`91.30% <91.30%> (ø)`
cpp_test/test_math.cpp	`85.71% <85.71%> (ø)`
cpp_test/test_types.cpp	`56.25% <56.25%> (ø)`

... and 3 files with indirect coverage changes

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Copilot

Pull Request Overview

This PR refactors the vortex_utils package to restructure C++ and Python utilities with improved organization, extended C++ functionality, and more fitting namespaces.

Key changes:

Restructured test folders from test/ and tests/ to cpp_test/ and py_test/ for clarity
Extended C++ library with new mathematical utilities and QoS profile definitions
Migrated from vortex_utils to vortex::utils namespace hierarchy with separate modules for math, types, and qos_profiles

Reviewed Changes

Copilot reviewed 16 out of 17 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
vortex_utils/qos_profiles.py	Adds Python QoS profile utility functions
src/math.cpp	New C++ math utilities replacing old cpp_utils.cpp
src/cpp_utils.cpp	Removed old C++ utilities file
include/vortex/utils/*.hpp	New header structure with separate math, types, and qos_profiles modules
cpp_test/	Restructured C++ tests with comprehensive coverage
py_test/	Restructured Python tests with updated file paths
CMakeLists.txt	Updated build configuration for new structure
README.md	Updated documentation reflecting new API

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Copilot · 2025-10-13T06:53:51Z

cpp_test/test_math.cpp

+    }
+}
+
+// Test that a quaternion with flipped signs is correctly convverted to euler


Corrected spelling of 'convverted' to 'converted'.

Suggested change

// Test that a quaternion with flipped signs is correctly convverted to euler

// Test that a quaternion with flipped signs is correctly converted to euler

Copilot · 2025-10-13T06:53:51Z

cpp_test/test_math.cpp

+    Eigen::Quaterniond q{euler_to_quat(roll, pitch, yaw)};
+    Eigen::Vector4d result{q.x(), q.y(), q.z(), q.w()};
+    Eigen::Vector4d expected{0.0, 0.0, 0.0, 1.0};
+    for (int i = 0; i < 3; ++i) {


Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.

Suggested change

for (int i = 0; i < 3; ++i) {

for (int i = 0; i < 4; ++i) {

Copilot · 2025-10-13T06:53:51Z

cpp_test/test_math.cpp

+    Eigen::Quaterniond q{euler_to_quat(roll, pitch, yaw)};
+    Eigen::Vector4d result{q.x(), q.y(), q.z(), q.w()};
+    Eigen::Vector4d expected{0.479, 0.0, 0.0, 0.877};
+    for (int i = 0; i < 3; ++i) {


Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.

Copilot · 2025-10-13T06:53:51Z

cpp_test/test_math.cpp

+    Eigen::Quaterniond q{euler_to_quat(roll, pitch, yaw)};
+    Eigen::Vector4d result{q.x(), q.y(), q.z(), q.w()};
+    Eigen::Vector4d expected{0.0, 0.479, 0.0, 0.877};
+    for (int i = 0; i < 3; ++i) {


Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.

Copilot · 2025-10-13T06:53:52Z

cpp_test/test_math.cpp

+    Eigen::Quaterniond q{euler_to_quat(roll, pitch, yaw)};
+    Eigen::Vector4d result{q.x(), q.y(), q.z(), q.w()};
+    Eigen::Vector4d expected{0.0, 0.0, 0.479, 0.877};
+    for (int i = 0; i < 3; ++i) {


Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.

Copilot · 2025-10-13T06:53:52Z

cpp_test/test_math.cpp

+    Eigen::Quaterniond q{euler_to_quat(roll, pitch, yaw)};
+    Eigen::Vector4d result{q.x(), q.y(), q.z(), q.w()};
+    Eigen::Vector4d expected{0.1675, 0.5709, 0.1675, 0.786};
+    for (int i = 0; i < 3; ++i) {


Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.

kluge7

LGTM

github-actions · 2025-10-17T11:13:46Z

🎉 This PR is included in version 1.4.3 🎉

The release is available on GitHub release

Your semantic-release bot 📦🚀

Andeshog added 16 commits October 10, 2025 17:46

refactor: separate utilities into more specific files

54fff4a

feat: add qos profile implementation

8c63f9e

refactor(tests): better organize python and cpp tests

ab2256d

refactor: remove commented out code in cmakelist

23c6082

add header files to library

c2a4b0a

add rclcpp depend to package.xml

b9dfcc4

add back eigen?

ff736bb

feat: add python qos profiles

49f15d3

refactor: quat and euler functions and tests

93a9386

test(cpp_math): add more euler to quat tests

5fd034c

test(cpp_math): write brief on every test

b7a3074

feat: add transformation matrix from Fossen

15ac439

update documentation

f6a5d99

formatting

ca2932f

remove unused half sentence at the end

0e4a22f

doc: add python qos to readme

701f199

Andeshog requested a review from kluge7 October 11, 2025 15:17

Andeshog and others added 6 commits October 11, 2025 22:37

refactor: rename include path to vortex/utils/

4ff6c46

test: add tests for types and remove unnecessary typedefs

d7325a7

[pre-commit.ci] auto fixes from pre-commit.com hooks

3d37d90

for more information, see https://pre-commit.ci

fix typo in readme

1055f06

explicitly set reliability in reliable profile

73c2833

refactor: simplify to_vector methods of Eta and Nu structs

8b9aa36

kluge7 requested a review from Copilot October 13, 2025 06:52

Copilot AI reviewed Oct 13, 2025

View reviewed changes

update max index in quat test loops

4ed8328

kluge7 approved these changes Oct 13, 2025

View reviewed changes

Andeshog merged commit 979d564 into main Oct 13, 2025
5 checks passed

Andeshog deleted the refactor/vortex-utils-structure branch October 13, 2025 07:12

github-actions bot added the released label Oct 17, 2025

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	// Test that a quaternion with flipped signs is correctly convverted to euler
	// Test that a quaternion with flipped signs is correctly converted to euler

refactor: restructure vortex_utils and add more C++ utils #10

refactor: restructure vortex_utils and add more C++ utils #10

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