refactor: restructure vortex_utils and add more C++ utils #10
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #10 +/- ##
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- Coverage 90.54% 89.40% -1.15%
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Files 6 6
Lines 423 500 +77
Branches 53 142 +89
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+ Hits 383 447 +64
+ Misses 26 4 -22
- Partials 14 49 +35
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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/andtests/tocpp_test/andpy_test/for clarity - Extended C++ library with new mathematical utilities and QoS profile definitions
- Migrated from
vortex_utilstovortex::utilsnamespace 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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cpp_test/test_math.cpp
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| // Test that a quaternion with flipped signs is correctly convverted to euler |
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Corrected spelling of 'convverted' to 'converted'.
| // Test that a quaternion with flipped signs is correctly convverted to euler | |
| // Test that a quaternion with flipped signs is correctly converted to euler |
cpp_test/test_math.cpp
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| 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) { |
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Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.
| for (int i = 0; i < 3; ++i) { | |
| for (int i = 0; i < 4; ++i) { |
cpp_test/test_math.cpp
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| 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) { |
There was a problem hiding this comment.
Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.
cpp_test/test_math.cpp
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| 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) { |
There was a problem hiding this comment.
Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.
cpp_test/test_math.cpp
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| 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) { |
There was a problem hiding this comment.
Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.
cpp_test/test_math.cpp
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| 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) { |
There was a problem hiding this comment.
Loop should iterate through all 4 quaternion components (0 to 3), not just the first 3. The quaternion has x, y, z, w components.
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🎉 This PR is included in version 1.4.3 🎉 The release is available on GitHub release Your semantic-release bot 📦🚀 |
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.