Revamp build process

What I'm trying to achieve:
 * Better adhere to CMake conventions
 * Better adhere to CMake best practices
 * Reduce build times
 * Allow for building all code in one (and only one) binary dir
 * Improve readability
 * Improve maintainability

.github/workflows/install.yml

@@ -31,7 +31,7 @@ jobs:
           rm -rf build
 
       - name: configure
-        run: cmake -Stest -Bbuild -DTEST_INSTALLED_VERSION=1
+        run: cmake -Bbuild -DTEST_INSTALLED_VERSION=1
 
       - name: build
         run: cmake --build build --config Debug -j4

.github/workflows/macos.yml

@@ -25,7 +25,7 @@ jobs:
           key: ${{ github.workflow }}-cpm-modules-${{ hashFiles('**/CMakeLists.txt', '**/*.cmake') }}
 
       - name: configure
-        run: cmake -Stest -Bbuild -DCMAKE_BUILD_TYPE=Debug
+        run: cmake -Bbuild -DCMAKE_BUILD_TYPE=Debug
 
       - name: build
         run: cmake --build build -j4

.github/workflows/style.yml

@@ -29,7 +29,7 @@ jobs:
           pip3 install cmake_format==0.6.11 pyyaml
 
       - name: configure
-        run: cmake -Stest -Bbuild
+        run: cmake -Bbuild
 
       - name: check style
         run: cmake --build build --target check-format

.github/workflows/ubuntu.yml

@@ -26,7 +26,7 @@ jobs:
           key: ${{ github.workflow }}-cpm-modules-${{ hashFiles('**/CMakeLists.txt', '**/*.cmake') }}
 
       - name: configure
-        run: cmake -Stest -Bbuild -DENABLE_TEST_COVERAGE=1 -DCMAKE_BUILD_TYPE=Debug
+        run: cmake -Bbuild -DENABLE_TEST_COVERAGE=1 -DCMAKE_BUILD_TYPE=Debug
 
       - name: build
         run: cmake --build build -j4

.github/workflows/windows.yml

@@ -25,7 +25,7 @@ jobs:
           key: ${{ github.workflow }}-cpm-modules-${{ hashFiles('**/CMakeLists.txt', '**/*.cmake') }}
 
       - name: configure
-        run: cmake -Stest -Bbuild
+        run: cmake -Bbuild
 
       - name: build
         run: cmake --build build --config Debug -j4

CMakeLists.txt

@@ -1,33 +1,22 @@
-cmake_minimum_required(VERSION 3.14 FATAL_ERROR)
-
-# ---- Project ----
-
-# Note: update this to your new project's name and version
+cmake_minimum_required(VERSION 3.14)
 project(
   Robotics
   VERSION 1.0
   LANGUAGES CXX
 )
 
-# FIXME: doesn't seem to be caching packages
-add_compile_definitions(CPM_SOURCE_CACHE="${CMAKE_CURRENT_LIST_DIR}/build/cache/CPM")
-
-# ---- Include guards ----
-
 if(PROJECT_SOURCE_DIR STREQUAL PROJECT_BINARY_DIR)
   message(
     FATAL_ERROR
       "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there."
   )
 endif()
 
-# ---- Add dependencies via CPM ----
-# see https://github.com/TheLartians/CPM.cmake for more info
-
+include(cmake/tools.cmake)
 include(cmake/CPM.cmake)
 
-# PackageProject.cmake will be used to make our target installable
-CPMAddPackage("gh:TheLartians/PackageProject.cmake@1.6.0")
+# FIXME: doesn't seem to be caching packages
+add_compile_definitions(CPM_SOURCE_CACHE="${CMAKE_BINARY_DIR}/cache/CPM")
 
 CPMAddPackage(
   NAME Eigen3
@@ -37,38 +26,18 @@ CPMAddPackage(
   # not intended for library use
   DOWNLOAD_ONLY YES
 )
-
-if(Eigen3_ADDED)
-  add_library(Eigen3 INTERFACE IMPORTED)
-  target_include_directories(Eigen3 INTERFACE ${Eigen3_SOURCE_DIR})
-endif()
-
-# ---- Add source files ----
-
-# Note: globbing sources is considered bad practice as CMake's generators may not detect new files
-# automatically. Keep that in mind when changing files, or explicitly mention them here.
-file(GLOB_RECURSE headers CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp")
-
-# ---- Create library ----
+add_library(Eigen3::Eigen INTERFACE IMPORTED)
+target_include_directories(Eigen3::Eigen INTERFACE ${Eigen3_SOURCE_DIR})
 
 add_library(Robotics INTERFACE)
-
-# being a cross-platform target, we enforce standards conformance on MSVC
-target_compile_options(Robotics INTERFACE "$<$<COMPILE_LANG_AND_ID:CXX,MSVC>:/permissive->")
-
-# Link dependencies
-target_link_libraries(Robotics INTERFACE Eigen3)
-
 target_include_directories(
   Robotics INTERFACE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
                      $<INSTALL_INTERFACE:include/${PROJECT_NAME}-${PROJECT_VERSION}>
 )
+target_link_libraries(Robotics INTERFACE Eigen3::Eigen)
+target_compile_features(Robotics INTERFACE cxx_std_17)
 
-# ---- Create an installable target ----
-# this allows users to install and find the library via `find_package()`.
-
-# the location where the project's version header will be placed should match the project's regular
-# header paths
+CPMAddPackage("gh:TheLartians/PackageProject.cmake@1.6.0")
 string(TOLOWER ${PROJECT_NAME}/version.h VERSION_HEADER_LOCATION)
 
 packageProject(
@@ -82,3 +51,12 @@ packageProject(
   COMPATIBILITY SameMajorVersion
   DEPENDENCIES "Eigen3 3.3.9"
 )
+
+if(NOT CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
+  return()
+endif()
+
+include(CTest)
+add_subdirectory(documentation)
+add_subdirectory(examples)
+add_subdirectory(tests)

README.md

@@ -84,25 +84,25 @@ CppRobotics aims to be modular, which means:
 
 ### Building and running the examples
 
-Given a generic `EXAMPLE` that you want to run, the following commands build it:
+By default, example programs will be built. Use the `BUILD_EXAMPLES` option to disable them.
 
 ```bash
-cmake -S examples/EXAMPLE -B build/EXAMPLE
-cmake --build build/EXAMPLE
+cmake -B build
+cmake --build build
 ```
 
 On Windows, this will default to a Debug configuration. To build the project in release mode, you can add `--config=Release` after the first command.
 
 To run the example on Linux, macOS, and most Unix-based systems:
 
 ```bash
-./build/EXAMPLE/main
+./build/examples/main
 ```
 
 On Windows:
 
 ```bash
-./build/EXAMPLE/CONFIG_TYPE/main
+./build/examples/CONFIG_TYPE/main
 ```
 
 where `CONFIG_TYPE` is either `Debug` or `Release`, depending on how you configured the project.
@@ -193,15 +193,15 @@ Check out [TheLartians/ModernCppStarter](https://github.com/TheLartians/ModernCp
 
 ### Running tests
 
-From the root directory:
+By default, tests are built. Use the `BUILD_TESTING` option to disable them.
 
 ```bash
-cmake -S test -B build/test
-cmake --build build/test
-CTEST_OUTPUT_ON_FAILURE=1 cmake --build build/test --target test
+cmake -B build
+cmake --build build
+CTEST_OUTPUT_ON_FAILURE=1 cmake --build build --target test
 
 # or simply call the executable: 
-./build/test/RoboticsTests
+./build/tests/RoboticsTests
 ```
 
 To also collect code coverage information, run CMake with the `-DENABLE_TEST_COVERAGE=1` option.
@@ -211,13 +211,13 @@ To also collect code coverage information, run CMake with the `-DENABLE_TEST_COV
 This requires _clang-format_, _cmake-format_ and _pyyaml_ to be installed on the current system.
 
 ```bash
-cmake -S test -B build/test
+cmake -B build
 
 # view changes
-cmake --build build/test --target format
+cmake --build build --target format
 
 # apply changes
-cmake --build build/test --target fix-format
+cmake --build build --target fix-format
 ```
 
 See [Format.cmake](https://github.com/TheLartians/Format.cmake) for details.
@@ -228,33 +228,14 @@ The documentation is automatically built and [published](https://giacomo-b.githu
 To manually build documentation, call the following command.
 
 ```bash
-cmake -S documentation -B build/doc
-cmake --build build/doc --target GenerateDocs
+cmake -B build
+cmake --build build --target GenerateDocs
 # view the docs
 open build/doc/doxygen/html/index.html
 ```
 
 To build the documentation locally, you will need _Doxygen_, _jinja2_ and _Pygments_ installed in your system.
 
-### Build everything at once
-
-The project also includes an `all` directory that allows building all targets at the same time.
-This is useful during development, as it exposes all subprojects to your IDE and avoids redundant builds of the library.
-
-```bash
-cmake -S all -B build
-cmake --build build
-
-# run tests
-./build/test/RoboticsTests
-# format code
-cmake --build build --target fix-format
-# run standalone
-./build/standalone/Robotics --help
-# build docs
-cmake --build build --target GenerateDocs
-```
-
 ### Additional tools
 
 The test and standalone subprojects include the [tools.cmake](cmake/tools.cmake) file which is used to import additional tools on-demand through CMake configuration arguments.

documentation/CMakeLists.txt

@@ -1,24 +1,17 @@
-cmake_minimum_required(VERSION 3.14 FATAL_ERROR)
+option(BUILD_DOCS "Build the documentation" ON)
 
-project(RoboticsDocs)
-
-# ---- Dependencies ----
-
-include(../cmake/CPM.cmake)
+if(NOT BUILD_DOCS)
+  return()
+endif()
 
 CPMAddPackage("gh:mosra/m.css#42d4a9a48f31f5df6e246c948403b54b50574a2a")
-CPMAddPackage(NAME Robotics SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/..)
 
-# ---- Doxygen variables ----
-
-# set Doxyfile variables
 set(DOXYGEN_PROJECT_NAME Robotics)
 set(DOXYGEN_PROJECT_VERSION ${Robotics_VERSION})
 set(DOXYGEN_PROJECT_ROOT "${CMAKE_CURRENT_LIST_DIR}/..")
 set(DOXYGEN_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/doxygen")
 
 configure_file(${CMAKE_CURRENT_LIST_DIR}/Doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
 configure_file(${CMAKE_CURRENT_LIST_DIR}/conf.py ${CMAKE_CURRENT_BINARY_DIR}/conf.py)
 
 add_custom_target(

examples/CMakeLists.txt

@@ -0,0 +1,23 @@
+option(BUILD_EXAMPLES "Build the examples" ON)
+
+if(NOT BUILD_EXAMPLES)
+  return()
+endif()
+
+CPMAddPackage(
+  NAME matplotplusplus
+  GITHUB_REPOSITORY alandefreitas/matplotplusplus
+  GIT_TAG master
+  OPTIONS "BUILD_EXAMPLES OFF" "BUILD_TESTS OFF" "BUILD_INSTALLER OFF" "BUILD_PACKAGE OFF"
+)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(Clang|GNU)")
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
+elseif(MSVC)
+  add_compile_options(/WX /W4 /permissive-)
+endif()
+
+add_subdirectory(extended_kalman_filter)
+add_subdirectory(infinite_horizon_lqr)
+add_subdirectory(infinite_horizon_lqr_plot)
+add_subdirectory(pid)