New Concept structure

[jorgenfj]

Experimented with new structure for utils.

Adds more boilerplate but should be more scalable.

By simply defining some acessors for your type you can gain access to functions guarded by concepts.

Why bother defining accessors like these:

inline double x_of(const Eta& e) {
    return e.x;
}
inline double y_of(const Eta& e) {
    return e.y;
}
inline double z_of(const Eta& e) {
    return e.z;
}

Just to get access to a simple function like this:

template <PositionLike T>
inline Eigen::Vector3d pos_vector(const T& t) {
    return Eigen::Vector3d{x_of(t), y_of(t), z_of(t)};
}

Well this design ensures better scalability when more types(structs) and functions are added.

It allows us to create general function like this, without increasing complexity too much:

template <PoseLike T>
geometry_msgs::msg::Pose pose_like_to_pose_msg(const T& pose_like) {
    geometry_msgs::msg::Pose pose;

    pose.position.x = x_of(pose_like);
    pose.position.y = y_of(pose_like);
    pose.position.z = z_of(pose_like);

    if constexpr (QuatPoseLike<T>) {
        pose.orientation.w = qw_of(pose_like);
        pose.orientation.x = qx_of(pose_like);
        pose.orientation.y = qy_of(pose_like);
        pose.orientation.z = qz_of(pose_like);
    } else if constexpr (EulerPoseLike<T>) {
        const auto q = vortex::utils::math::euler_to_quat(
            roll_of(pose_like), pitch_of(pose_like), yaw_of(pose_like));
        pose.orientation.w = q.w();
        pose.orientation.x = q.x();
        pose.orientation.y = q.y();
        pose.orientation.z = q.z();
    }

    return pose;
}

A downside is that we lose some explicitness. Most of the eta functions in ops.hpp could probably have been converted to more general purpose functions using the concepts, but at the loss of intent.

Thoughts?

[Andeshog]

What is the point of creating functions to access publicly exposed members? Further, just curious, what are the specific usecases of all these generic functions other than possibly needing them in the future?

[jorgenfj]

The accessors are there so that arbitraty "pose" types can satisy the concept requirements. The generic functions like the ones in "views.hpp" can in the future, instead of having to define these functions for each new type, we just need to define the accessor functions and the generic functions will work.

[Andeshog]

Why keep this and eta? They contain the same data just in different forms. The codebase needs to be refactored anyway to apply the other freefunctions

[jorgenfj]

I agree that this does not need to be defined as is with eigen types. I am considering just creating a POD Pose struct, because Eta is not really a familiar term for perception

[jorgenfj]

I reverted the Eta types back to their original structure. Also created a Pose struct that the perception boys can use. I don't know exactly how "domain" specific the eta structs are, if that is the case then having them more Object-oriented might make things more explicit and intent more clear. For general Pose structs giving them access the concept capabilities and the views functions should be sufficient for now. This setup IMO can achieve a good middle ground

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.14%. Comparing base (69391c1) to head (0ff4017).

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #21      +/-   ##
==========================================
+ Coverage   98.11%   98.14%   +0.03%     
==========================================
  Files           5        6       +1     
  Lines         425      432       +7     
  Branches       97       84      -13     
==========================================
+ Hits          417      424       +7     
  Misses          4        4              
  Partials        4        4              

Flag	Coverage Δ
unittests	98.14% <100.00%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
include/vortex/utils/accessors.hpp	100.00% <100.00%> (ø)
include/vortex/utils/ros_conversions.hpp	100.00% <100.00%> (ø)
include/vortex/utils/types.hpp	95.58% <ø> (ø)

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.