CI integration

.clang-format

@@ -1,17 +1,18 @@
 BasedOnStyle: Google
 Language: Cpp
-
 AlignTrailingComments: true
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
 AllowShortFunctionsOnASingleLine: All
 BinPackArguments: false
 BreakBeforeBraces: Attach
-BreakConstructorInitializers: BeforeComma
+BreakBeforeBinaryOperators: NonAssignment
+BreakConstructorInitializers: AfterColon
 ColumnLimit: 100
 CompactNamespaces: false
 IndentWidth: 4
 NamespaceIndentation: None
+DerivePointerAlignment: false
 PointerAlignment: Left
 SortIncludes: false
 SpaceAfterTemplateKeyword: false

.cmake-format.py

@@ -0,0 +1,240 @@
+# ----------------------------------
+# Options affecting listfile parsing
+# ----------------------------------
+with section("parse"):
+
+  # Specify structure for custom cmake functions
+  additional_commands = { 'foo': { 'flags': ['BAR', 'BAZ'],
+             'kwargs': {'DEPENDS': '*', 'HEADERS': '*', 'SOURCES': '*'}}}
+
+  # Override configurations per-command where available
+  override_spec = {}
+
+  # Specify variable tags.
+  vartags = []
+
+  # Specify property tags.
+  proptags = []
+
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+
+  # Disable formatting entirely, making cmake-format a no-op
+  disable = False
+
+  # How wide to allow formatted cmake files
+  line_width = 80
+
+  # How many spaces to tab for indent
+  tab_size = 2
+
+  # If true, lines are indented using tab characters (utf-8 0x09) instead of
+  # <tab_size> space characters (utf-8 0x20). In cases where the layout would
+  # require a fractional tab character, the behavior of the  fractional
+  # indentation is governed by <fractional_tab_policy>
+  use_tabchars = False
+
+  # If <use_tabchars> is True, then the value of this variable indicates how
+  # fractional indentions are handled during whitespace replacement. If set to
+  # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
+  # to `round-up` fractional indentation is replaced with a single tab character
+  # (utf-8 0x09) effectively shifting the column to the next tabstop
+  fractional_tab_policy = 'use-space'
+
+  # If an argument group contains more than this many sub-groups (parg or kwarg
+  # groups) then force it to a vertical layout.
+  max_subgroups_hwrap = 2
+
+  # If a positional argument group contains more than this many arguments, then
+  # force it to a vertical layout.
+  max_pargs_hwrap = 6
+
+  # If a cmdline positional group consumes more than this many lines without
+  # nesting, then invalidate the layout (and nest)
+  max_rows_cmdline = 2
+
+  # If true, separate flow control names from their parentheses with a space
+  separate_ctrl_name_with_space = False
+
+  # If true, separate function names from parentheses with a space
+  separate_fn_name_with_space = False
+
+  # If a statement is wrapped to more than one line, than dangle the closing
+  # parenthesis on its own line.
+  dangle_parens = True
+
+  # If the trailing parenthesis must be 'dangled' on its on line, then align it
+  # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
+  # the start of the statement, plus one indentation  level, `child`: align to
+  # the column of the arguments
+  dangle_align = 'prefix'
+
+  # If the statement spelling length (including space and parenthesis) is
+  # smaller than this amount, then force reject nested layouts.
+  min_prefix_chars = 4
+
+  # If the statement spelling length (including space and parenthesis) is larger
+  # than the tab width by more than this amount, then force reject un-nested
+  # layouts.
+  max_prefix_chars = 10
+
+  # If a candidate layout is wrapped horizontally but it exceeds this many
+  # lines, then reject the layout.
+  max_lines_hwrap = 2
+
+  # What style line endings to use in the output.
+  line_ending = 'unix'
+
+  # Format command names consistently as 'lower' or 'upper' case
+  command_case = 'canonical'
+
+  # Format keywords consistently as 'lower' or 'upper' case
+  keyword_case = 'unchanged'
+
+  # A list of command names which should always be wrapped
+  always_wrap = []
+
+  # If true, the argument lists which are known to be sortable will be sorted
+  # lexicographicall
+  enable_sort = True
+
+  # If true, the parsers may infer whether or not an argument list is sortable
+  # (without annotation).
+  autosort = False
+
+  # By default, if cmake-format cannot successfully fit everything into the
+  # desired linewidth it will apply the last, most agressive attempt that it
+  # made. If this flag is True, however, cmake-format will print error, exit
+  # with non-zero status code, and write-out nothing
+  require_valid_layout = False
+
+  # A dictionary mapping layout nodes to a list of wrap decisions. See the
+  # documentation for more information.
+  layout_passes = {}
+
+# ------------------------------------------------
+# Options affecting comment reflow and formatting.
+# ------------------------------------------------
+with section("markup"):
+
+  # What character to use for bulleted lists
+  bullet_char = '*'
+
+  # What character to use as punctuation after numerals in an enumerated list
+  enum_char = '.'
+
+  # If comment markup is enabled, don't reflow the first comment block in each
+  # listfile. Use this to preserve formatting of your copyright/license
+  # statements.
+  first_comment_is_literal = False
+
+  # If comment markup is enabled, don't reflow any comment block which matches
+  # this (regex) pattern. Default is `None` (disabled).
+  literal_comment_pattern = None
+
+  # Regular expression to match preformat fences in comments default=
+  # ``r'^\s*([`~]{3}[`~]*)(.*)$'``
+  fence_pattern = '^\\s*([`~]{3}[`~]*)(.*)$'
+
+  # Regular expression to match rulers in comments default=
+  # ``r'^\s*[^\w\s]{3}.*[^\w\s]{3}$'``
+  ruler_pattern = '^\\s*[^\\w\\s]{3}.*[^\\w\\s]{3}$'
+
+  # If a comment line matches starts with this pattern then it is explicitly a
+  # trailing comment for the preceeding argument. Default is '#<'
+  explicit_trailing_pattern = '#<'
+
+  # If a comment line starts with at least this many consecutive hash
+  # characters, then don't lstrip() them off. This allows for lazy hash rulers
+  # where the first hash char is not separated by space
+  hashruler_min_length = 10
+
+  # If true, then insert a space between the first hash char and remaining hash
+  # chars in a hash ruler, and normalize its length to fill the column
+  canonicalize_hashrulers = True
+
+  # enable comment markup parsing and reflow
+  enable_markup = True
+
+# ----------------------------
+# Options affecting the linter
+# ----------------------------
+with section("lint"):
+
+  # a list of lint codes to disable
+  disabled_codes = []
+
+  # regular expression pattern describing valid function names
+  function_pattern = '[0-9a-z_]+'
+
+  # regular expression pattern describing valid macro names
+  macro_pattern = '[0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with global
+  # (cache) scope
+  global_var_pattern = '[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with global
+  # scope (but internal semantic)
+  internal_var_pattern = '_[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with local
+  # scope
+  local_var_pattern = '[a-z][a-z0-9_]+'
+
+  # regular expression pattern describing valid names for privatedirectory
+  # variables
+  private_var_pattern = '_[0-9a-z_]+'
+
+  # regular expression pattern describing valid names for public directory
+  # variables
+  public_var_pattern = '[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for function/macro
+  # arguments and loop variables.
+  argument_var_pattern = '[a-z][a-z0-9_]+'
+
+  # regular expression pattern describing valid names for keywords used in
+  # functions or macros
+  keyword_pattern = '[A-Z][0-9A-Z_]+'
+
+  # In the heuristic for C0201, how many conditionals to match within a loop in
+  # before considering the loop a parser.
+  max_conditionals_custom_parser = 2
+
+  # Require at least this many newlines between statements
+  min_statement_spacing = 1
+
+  # Require no more than this many newlines between statements
+  max_statement_spacing = 2
+  max_returns = 6
+  max_branches = 12
+  max_arguments = 5
+  max_localvars = 15
+  max_statements = 50
+
+# -------------------------------
+# Options affecting file encoding
+# -------------------------------
+with section("encode"):
+
+  # If true, emit the unicode byte-order mark (BOM) at the start of the file
+  emit_byteorder_mark = False
+
+  # Specify the encoding of the input file. Defaults to utf-8
+  input_encoding = 'utf-8'
+
+  # Specify the encoding of the output file. Defaults to utf-8. Note that cmake
+  # only claims to support utf-8 so be careful when using anything else
+  output_encoding = 'utf-8'
+
+# -------------------------------------
+# Miscellaneous configurations options.
+# -------------------------------------
+with section("misc"):
+
+  # A dictionary containing any per-command configuration overrides. Currently
+  # only `command_case` is supported.
+  per_command = {}

.github/workflows/test.yml

@@ -0,0 +1,21 @@
+name: Test
+
+on:
+  pull_request:
+    branches: [master]
+  push:
+    branches: [master]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    name: Run pre-commit hooks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with: { python-version: "3.10" }
+      - uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -0,0 +1,45 @@
+repos:
+  # Common sanity checks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+        args: [--enforce-all, --maxkb=12300]
+      - id: check-merge-conflict
+      - id: check-xml
+      - id: check-json
+      - id: check-yaml
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  # YAML linter
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        exclude: ^.clang-tidy$
+        args: [--strict, -d, ".yamllint-config.yaml"]
+
+  # CMake linter and formatter
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+
+  # Python linters & formatters
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.1.3
+    hooks:
+      - id: ruff
+        args: [--fix, --show-fixes]
+      - id: ruff-format
+
+  # C++ formatter
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        types_or: [c, c++]

.yamllint-config.yaml

@@ -0,0 +1,17 @@
+rules:
+  line-length:
+    max: 120
+
+  quoted-strings:
+    quote-type: double
+    required: false
+
+  braces:
+    min-spaces-inside: 1
+    max-spaces-inside: 1
+    min-spaces-inside-empty: 0
+    max-spaces-inside-empty: 0
+
+  brackets:
+    min-spaces-inside-empty: 0
+    max-spaces-inside-empty: 0

Dockerfile

@@ -216,7 +216,7 @@ ENV PYTORCH_WHL="torch-1.13.0a0+340c4120.nv22.06-cp38-cp38-linux_aarch64.whl"
 ENV PYTORCH_URL="https://developer.download.nvidia.com/compute/redist/jp/v50/pytorch/${PYTORCH_WHL}"
 
 RUN wget --no-check-certificate -qO ${PYTORCH_WHL} ${PYTORCH_URL} \
-    && pip3 install --no-cache-dir ${PYTORCH_WHL} \ 
+    && pip3 install --no-cache-dir ${PYTORCH_WHL} \
     && rm -rf /tmp/*
 
 RUN wget -qO - https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VERSION}.tar.gz | tar -xz \
@@ -243,7 +243,7 @@ RUN wget -qO - https://github.com/IntelRealSense/librealsense/archive/refs/tags/
         -DBUILD_WITH_TM2=false \
     && make -j$(($(nproc)-1)) install \
     && rm -rf /tmp/*
- 
+
 FROM --platform=linux/amd64 truck-common AS truck-cuda-amd64
 
 # INSTALL OPENCV
@@ -443,7 +443,7 @@ RUN cd ${ROS_TMP} \
     && colcon build \
         --merge-install \
         --install-base ${ROS_ROOT} \
-        --cmake-args -DBUILD_TESTING=OFF \ 
+        --cmake-args -DBUILD_TESTING=OFF \
     && rm -rf /tmp/*
 
 RUN printf "export ROS_ROOT=${ROS_ROOT}\n" >> /root/.bashrc \
@@ -460,7 +460,7 @@ RUN git clone https://github.com/Slamtec/sllidar_ros2.git \
     && colcon build \
         --merge-install \
         --install-base ${ROS_ROOT} \
-        --cmake-args -DBUILD_TESTING=OFF \ 
+        --cmake-args -DBUILD_TESTING=OFF \
     && rm -rf /tmp/*
 
 FROM truck-ros AS truck-dev
@@ -481,7 +481,7 @@ RUN apt-get update -q && \
         libeigen3-dev \
         libtbb-dev \
         libproj-dev \
-        libsuitesparse-dev \ 
+        libsuitesparse-dev \
     && rm -rf /var/lib/apt/lists/* && apt-get clean
 
 ARG LIBNABO_VERSION="1.0.7"

doc/Makefile

@@ -8,5 +8,3 @@ build_dir:
 ackermann_vehicle_svg: build_dir
 	latex -output-directory build tex/ackermann_vehicle.tex
 	dvisvgm --no-fonts build/ackermann_vehicle.dvi -o svg/*
-
-