Move the fuse_variables package into the public repo

fuse/package.xml

@@ -12,6 +12,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>fuse_core</exec_depend>
+  <exec_depend>fuse_variables</exec_depend>
 
   <export>
     <metapackage />

fuse_variables/CMakeLists.txt

@@ -0,0 +1,179 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fuse_variables)
+
+find_package(catkin REQUIRED COMPONENTS
+  fuse_core
+  roscpp
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    fuse_core
+    roscpp
+)
+
+###########
+## Build ##
+###########
+
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++14;-Wall;-Werror")
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## fuse_variables library
+add_library(${PROJECT_NAME}
+  src/acceleration_angular_2d_stamped.cpp
+  src/acceleration_linear_2d_stamped.cpp
+  src/orientation_2d_stamped.cpp
+  src/position_2d_stamped.cpp
+  src/position_3d_stamped.cpp
+  src/velocity_angular_2d_stamped.cpp
+  src/velocity_linear_2d_stamped.cpp
+)
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS}
+)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/fuse_locus_variables/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(Ceres REQUIRED)
+  find_package(roslint REQUIRED)
+  find_package(rostest REQUIRED)
+  include_directories(${CERES_INCLUDE_DIRS})
+
+  # Lint tests
+  set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
+  roslint_cpp()
+  roslint_add_test()
+
+  # Acceleration Angular 2D Stamped Tests
+  catkin_add_gtest(test_acceleration_angular_2d_stamped
+    test/test_acceleration_angular_2d_stamped.cpp
+  )
+  add_dependencies(test_acceleration_angular_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_acceleration_angular_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Acceleration Linear 2D Stamped Tests
+  catkin_add_gtest(test_acceleration_linear_2d_stamped
+    test/test_acceleration_linear_2d_stamped.cpp
+  )
+  add_dependencies(test_acceleration_linear_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_acceleration_linear_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Fixed Size Variable Tests
+  catkin_add_gtest(test_fixed_size_variable
+    test/test_fixed_size_variable.cpp
+  )
+  add_dependencies(test_fixed_size_variable
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_fixed_size_variable
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+  )
+
+  # Orientation 2D Stamped Tests
+  catkin_add_gtest(test_orientation_2d_stamped
+    test/test_orientation_2d_stamped.cpp
+  )
+  add_dependencies(test_orientation_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_orientation_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Position 2D Stamped Tests
+  catkin_add_gtest(test_position_2d_stamped
+    test/test_position_2d_stamped.cpp
+  )
+  add_dependencies(test_position_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_position_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Position 3D stamped tests
+  catkin_add_gtest(test_position_3d_stamped
+    test/test_position_3d_stamped.cpp
+  )
+  add_dependencies(test_position_3d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_position_3d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Velocity Angular 2D Stamped Tests
+  catkin_add_gtest(test_velocity_angular_2d_stamped
+    test/test_velocity_angular_2d_stamped.cpp
+  )
+  add_dependencies(test_velocity_angular_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_velocity_angular_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+
+  # Velocity Linear 2D Stamped Tests
+  catkin_add_gtest(test_velocity_linear_2d_stamped
+    test/test_velocity_linear_2d_stamped.cpp
+  )
+  add_dependencies(test_velocity_linear_2d_stamped
+    ${catkin_EXPORTED_TARGETS}
+  )
+  target_link_libraries(test_velocity_linear_2d_stamped
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${CERES_LIBRARIES}
+  )
+endif()

fuse_variables/LICENSE

@@ -0,0 +1,31 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2018, Locus Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

fuse_variables/README.md

@@ -0,0 +1,3 @@
+# fuse_variables
+This package provides a set of commonly used variable types, such as 2D and 3D positions, orientations, velocities,
+and accelerations.

fuse_variables/include/fuse_variables/acceleration_angular_2d_stamped.h

@@ -0,0 +1,125 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef FUSE_VARIABLES_ACCELERATION_ANGULAR_2D_STAMPED_H
+#define FUSE_VARIABLES_ACCELERATION_ANGULAR_2D_STAMPED_H
+
+#include <fuse_core/macros.h>
+#include <fuse_core/uuid.h>
+#include <fuse_variables/fixed_size_variable.h>
+#include <ros/time.h>
+
+#include <ostream>
+
+
+namespace fuse_variables
+{
+
+/**
+ * @brief Variable representing a 2D angular acceleration at a specific time, with a specific piece of hardware.
+ *
+ * This is commonly used to represent a robot's acceleration. The UUID of this class is constant after construction.
+ * As such, the timestamp and hardware id cannot be modified. The value of the acceleration can be modified.
+ */
+class AccelerationAngular2DStamped final : public FixedSizeVariable<1>
+{
+public:
+  SMART_PTR_DEFINITIONS(AccelerationAngular2DStamped);
+
+  /**
+   * @brief Default constructor
+   *
+   * This is needed for the ROS plugin system and the deserializeMessage() method. It should not be used directly.
+   */
+  AccelerationAngular2DStamped();
+
+  /**
+   * @brief Construct a 2D acceleration at a specific point in time.
+   *
+   * @param[in] stamp       The timestamp attached to this velocity.
+   * @param[in] hardware_id An optional hardware id, for use when variables originate from multiple robots or devices
+   */
+  explicit AccelerationAngular2DStamped(
+    const ros::Time& stamp,
+    const fuse_core::UUID& hardware_id = fuse_core::uuid::NIL);
+
+  /**
+   * @brief Read-write access to the angular acceleration.
+   */
+  double& atheta() { return data_[0]; }
+
+  /**
+   * @brief Read-only access to the angular acceleration.
+   */
+  const double& atheta() const { return data_[0]; }
+
+  /**
+   * @brief Read-only access to the associated timestamp.
+   */
+  const ros::Time& stamp() const { return stamp_; }
+
+  /**
+   * @brief Read-only access to the associated hardware ID.
+   */
+  const fuse_core::UUID& hardwareId() const { return hardware_id_; }
+
+  /**
+   * @brief Read-only access to the unique ID of this variable instance.
+   *
+   * All variables of this type with identical timestamps will return the same UUID.
+   */
+  fuse_core::UUID uuid() const override { return uuid_; }
+
+  /**
+   * @brief Print a human-readable description of the variable to the provided stream.
+   *
+   * @param[out] stream The stream to write to. Defaults to stdout.
+   */
+  void print(std::ostream& stream = std::cout) const override;
+
+  /**
+   * @brief Perform a deep copy of the Variable and return a unique pointer to the copy
+   *
+   * @return A unique pointer to a new instance of the most-derived Variable
+   */
+  fuse_core::Variable::UniquePtr clone() const override;
+
+protected:
+  fuse_core::UUID hardware_id_;  //!< The hardware UUID associated with this variable instance
+  ros::Time stamp_;  //!< The timestamp associated with this variable instance
+  fuse_core::UUID uuid_;  //!< The UUID for this instance, computed during construction
+};
+
+}  // namespace fuse_variables
+
+#endif  // FUSE_VARIABLES_ACCELERATION_ANGULAR_2D_STAMPED_H