From e678a338b4814159e33dc4d3df76905623e05402 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 30 Jul 2025 10:10:12 -0700 Subject: [PATCH 1/6] [ci] Upgrade wpiformat (#8124) See https://github.com/wpilibsuite/styleguide/pull/312 --- .gersemirc | 2 -- .github/workflows/lint-format.yml | 4 ++-- cscore/src/main/native/cpp/MjpegServerImpl.cpp | 3 +-- hal/src/main/native/athena/CTREPCM.cpp | 5 +++-- .../include/hal/simulation/SimCallbackRegistry.h | 2 +- .../native/include/hal/simulation/SimDataValue.h | 2 +- ntcore/src/main/native/cpp/net3/WireDecoder3.cpp | 6 +++--- wpimath/src/main/native/include/units/math.h | 13 ++++++------- 8 files changed, 17 insertions(+), 20 deletions(-) diff --git a/.gersemirc b/.gersemirc index d102ccb5a4..9d9238b7cc 100644 --- a/.gersemirc +++ b/.gersemirc @@ -1,6 +1,4 @@ -color: false definitions: [cmake/modules] line_length: 100 list_expansion: favour-inlining -quiet: false unsafe: false diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml index d37a62e7f9..938405e552 100644 --- a/.github/workflows/lint-format.yml +++ b/.github/workflows/lint-format.yml @@ -36,7 +36,7 @@ jobs: - name: Install wpiformat run: | python -m venv ${{ runner.temp }}/wpiformat - ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33 + ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34 - name: Run run: ${{ runner.temp }}/wpiformat/bin/wpiformat - name: Check output @@ -78,7 +78,7 @@ jobs: - name: Install wpiformat run: | python -m venv ${{ runner.temp }}/wpiformat - ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33 + ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34 - name: Create compile_commands.json run: | ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/cscore/src/main/native/cpp/MjpegServerImpl.cpp index 5ce5c39a52..e303ca54da 100644 --- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp +++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp @@ -773,8 +773,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) { lastFrameTime = thisFrameTime; double timestamp = lastFrameTime / 1000000.0; header.clear(); - oss << "\r\n--" BOUNDARY "\r\n" - << "Content-Type: image/jpeg\r\n"; + oss << "\r\n--" BOUNDARY "\r\n" << "Content-Type: image/jpeg\r\n"; wpi::print(oss, "Content-Length: {}\r\n", size); wpi::print(oss, "X-Timestamp: {}\r\n", timestamp); oss << "\r\n"; diff --git a/hal/src/main/native/athena/CTREPCM.cpp b/hal/src/main/native/athena/CTREPCM.cpp index 4c104da5e6..d1be2ff23c 100644 --- a/hal/src/main/native/athena/CTREPCM.cpp +++ b/hal/src/main/native/athena/CTREPCM.cpp @@ -398,8 +398,9 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index, } std::scoped_lock lock{pcm->lock}; - pcm->oneShot.sol10MsPerUnit[index] = (std::min)( - static_cast(durMs) / 10, static_cast(0xFF)); + pcm->oneShot.sol10MsPerUnit[index] = + (std::min)(static_cast(durMs) / 10, + static_cast(0xFF)); HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8, Control3, SendPeriod, status); } diff --git a/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h b/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h index dc753175b4..fc8191bf08 100644 --- a/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h +++ b/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h @@ -102,7 +102,7 @@ class SimCallbackRegistry : public impl::SimCallbackRegistryBase { */ #define HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(NAME) \ static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \ - Get##NAME##Name() { \ + Get##NAME##Name() { \ return #NAME; \ } diff --git a/hal/src/main/native/include/hal/simulation/SimDataValue.h b/hal/src/main/native/include/hal/simulation/SimDataValue.h index 8c909fae28..69270075fd 100644 --- a/hal/src/main/native/include/hal/simulation/SimDataValue.h +++ b/hal/src/main/native/include/hal/simulation/SimDataValue.h @@ -127,7 +127,7 @@ class SimDataValue final : public impl::SimDataValueBase { */ #define HAL_SIMDATAVALUE_DEFINE_NAME(NAME) \ static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \ - Get##NAME##Name() { \ + Get##NAME##Name() { \ return #NAME; \ } diff --git a/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp b/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp index dea6349b01..8c2fbf3175 100644 --- a/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp +++ b/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp @@ -334,9 +334,9 @@ std::optional> WireDecoder3::ReadRaw( } // string data - size_t toCopy = (std::min)( - static_cast(in->size()), - static_cast(m_rawReader.len.value() - m_rawReader.buf.size())); + size_t toCopy = (std::min)(static_cast(in->size()), + static_cast(m_rawReader.len.value() - + m_rawReader.buf.size())); m_rawReader.buf.insert(m_rawReader.buf.end(), in->begin(), in->begin() + toCopy); *in = wpi::drop_front(*in, toCopy); diff --git a/wpimath/src/main/native/include/units/math.h b/wpimath/src/main/native/include/units/math.h index a5cf357b5f..727aee62fb 100644 --- a/wpimath/src/main/native/include/units/math.h +++ b/wpimath/src/main/native/include/units/math.h @@ -482,11 +482,10 @@ constexpr dimensionless::scalar_t log2(const ScalarUnit x) noexcept { template < class UnitType, std::enable_if_t::value, int> = 0> -inline constexpr auto sqrt(const UnitType& value) noexcept - -> unit_t< - square_root::unit_type>, - typename units::traits::unit_t_traits::underlying_type, - linear_scale> { +inline constexpr auto sqrt(const UnitType& value) noexcept -> unit_t< + square_root::unit_type>, + typename units::traits::unit_t_traits::underlying_type, + linear_scale> { return unit_t< square_root::unit_type>, typename units::traits::unit_t_traits::underlying_type, @@ -742,8 +741,8 @@ template ::value && traits::is_unit_t::value && traits::is_unit_t::value>> -auto fma(const UnitTypeLhs x, const UnitMultiply y, - const UnitAdd z) noexcept -> decltype(x * y) { +auto fma(const UnitTypeLhs x, const UnitMultiply y, const UnitAdd z) noexcept + -> decltype(x * y) { using resultType = decltype(x * y); static_assert( traits::is_convertible_unit_t< From 0478176e4743a4399a2b5114ee7fa930b8d88c6a Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Wed, 30 Jul 2025 21:29:24 -0700 Subject: [PATCH 2/6] [simgui] Add GUI context getter hooks (#8127) This enables GUI libraries to be linked statically with shared context. --- .../halsim_gui/src/main/native/cpp/main.cpp | 9 +++++++++ .../src/main/native/include/HALSimGuiExt.h | 19 +++++++++++++++++++ wpigui/src/main/native/cpp/wpigui.cpp | 8 ++++++++ wpigui/src/main/native/include/wpigui.h | 16 ++++++++++++++++ 4 files changed, 52 insertions(+) diff --git a/simulation/halsim_gui/src/main/native/cpp/main.cpp b/simulation/halsim_gui/src/main/native/cpp/main.cpp index de3eae4bab..2df10c84f0 100644 --- a/simulation/halsim_gui/src/main/native/cpp/main.cpp +++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp @@ -65,6 +65,12 @@ __declspec(dllexport) reinterpret_cast((AddGuiEarlyExecuteFn)&AddGuiEarlyExecute)); HAL_RegisterExtension(HALSIMGUI_EXT_GUIEXIT, reinterpret_cast((GuiExitFn)&GuiExit)); + HAL_RegisterExtension( + HALSIMGUI_EXT_GETGUICONTEXT, + reinterpret_cast((GetGuiContextFn)&gui::GetCurrentContext)); + HAL_RegisterExtension( + HALSIMGUI_EXT_GETGLASSCONTEXT, + reinterpret_cast((GetGlassContextFn)&glass::GetCurrentContext)); HALSimGui::GlobalInit(); DriverStationGui::GlobalInit(); @@ -158,6 +164,9 @@ __declspec(dllexport) ImGuiConfigFlags_DockingEnable)) { return 0; } + HAL_RegisterExtension( + HALSIMGUI_EXT_GETIMGUICONTEXT, + reinterpret_cast((GetImguiContextFn)&ImGui::GetCurrentContext)); HAL_RegisterExtensionListener( nullptr, [](void*, const char* name, void* data) { if (std::string_view{name} == "ds_socket") { diff --git a/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h b/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h index e60976e346..377518f6db 100644 --- a/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h +++ b/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h @@ -6,6 +6,16 @@ #include +struct ImGuiContext; + +namespace glass { +class Context; +} // namespace glass + +namespace wpi::gui { +struct Context; +} // namespace wpi::gui + namespace halsimgui { // These functions can be used to hook into the GUI, and can be accessed @@ -23,4 +33,13 @@ using AddGuiEarlyExecuteFn = void (*)(std::function execute); #define HALSIMGUI_EXT_GUIEXIT "halsimgui::GuiExit" using GuiExitFn = void (*)(); +#define HALSIMGUI_EXT_GETIMGUICONTEXT "halsimgui::GetImguiContext" +using GetImguiContextFn = ImGuiContext* (*)(); + +#define HALSIMGUI_EXT_GETGUICONTEXT "halsimgui::GetGuiContext" +using GetGuiContextFn = wpi::gui::Context* (*)(); + +#define HALSIMGUI_EXT_GETGLASSCONTEXT "halsimgui::GetGlassContext" +using GetGlassContextFn = glass::Context* (*)(); + } // namespace halsimgui diff --git a/wpigui/src/main/native/cpp/wpigui.cpp b/wpigui/src/main/native/cpp/wpigui.cpp index 0fe3f24104..71e6ab5700 100644 --- a/wpigui/src/main/native/cpp/wpigui.cpp +++ b/wpigui/src/main/native/cpp/wpigui.cpp @@ -169,6 +169,14 @@ void gui::DestroyContext() { gContext = nullptr; } +Context* gui::GetCurrentContext() { + return gContext; +} + +void gui::SetCurrentContext(Context* context) { + gContext = context; +} + static void UpdateFontScale() { // Scale based on OS window content scaling float windowScale = 1.0; diff --git a/wpigui/src/main/native/include/wpigui.h b/wpigui/src/main/native/include/wpigui.h index 6c3315fc55..761e02b2f8 100644 --- a/wpigui/src/main/native/include/wpigui.h +++ b/wpigui/src/main/native/include/wpigui.h @@ -14,6 +14,8 @@ extern "C" struct GLFWwindow; namespace wpi::gui { +struct Context; + /** * Creates GUI context. Must be called prior to calling any other functions. */ @@ -24,6 +26,20 @@ void CreateContext(); */ void DestroyContext(); +/** + * Gets GUI context. + * + * @return context + */ +Context* GetCurrentContext(); + +/** + * Sets GUI context. + * + * @param context context + */ +void SetCurrentContext(Context* context); + /** * Initializes the GUI. * From feee88f40d54458cb4b39412c5a46f98c83e6432 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 31 Jul 2025 21:04:55 -0700 Subject: [PATCH 3/6] [wpimath] Remove redundant transposes on symmetric matrices (#8131) This likely won't have a performance impact since it only affects matrix traversal order, but it does simplify the code. --- .../wpi/first/math/estimator/ExtendedKalmanFilter.java | 6 +++++- .../java/edu/wpi/first/math/estimator/KalmanFilter.java | 6 +++++- .../wpi/first/math/estimator/SteadyStateKalmanFilter.java | 8 +++++--- wpimath/src/main/native/include/frc/DARE.h | 6 +++++- .../native/include/frc/estimator/ExtendedKalmanFilter.h | 7 +++++-- .../src/main/native/include/frc/estimator/KalmanFilter.h | 7 +++++-- .../include/frc/estimator/SteadyStateKalmanFilter.h | 6 +++++- 7 files changed, 35 insertions(+), 11 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java index 055bf9939a..fa8f9245e9 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java @@ -372,7 +372,11 @@ public class ExtendedKalmanFilter K = S.transpose().solve(C.times(m_P.transpose())).transpose(); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + final Matrix K = S.solve(C.times(m_P)).transpose(); // x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − h(x̂ₖ₊₁⁻, uₖ₊₁)) m_xHat = addFuncX.apply(m_xHat, K.times(residualFuncY.apply(y, h.apply(m_xHat, u)))); diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java index 40e6c96c7a..2d76cabfee 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java @@ -230,7 +230,11 @@ public class KalmanFilter K = S.transpose().solve(C.times(m_P.transpose())).transpose(); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + final Matrix K = S.solve(C.times(m_P)).transpose(); // x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − (Cx̂ₖ₊₁⁻ + Duₖ₊₁)) m_xHat = m_xHat.plus(K.times(y.minus(C.times(m_xHat).plus(D.times(u))))); diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java index 31649728e2..4b5ca7bc65 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java @@ -100,9 +100,11 @@ public class SteadyStateKalmanFilter( - S.transpose().getStorage().solve(C.times(P.transpose()).getStorage()).transpose()); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + m_K = new Matrix<>(S.getStorage().solve(C.times(P).getStorage()).transpose()); reset(); } diff --git a/wpimath/src/main/native/include/frc/DARE.h b/wpimath/src/main/native/include/frc/DARE.h index fba06ccb0a..feca99a1fd 100644 --- a/wpimath/src/main/native/include/frc/DARE.h +++ b/wpimath/src/main/native/include/frc/DARE.h @@ -128,7 +128,11 @@ Eigen::Matrix DARE( // // V₂ᵀ = W.solve(Gₖᵀ) // V₂ = W.solve(Gₖᵀ)ᵀ - StateMatrix V_2 = W_solver.solve(G_k.transpose()).transpose(); + // + // Since W, Gₖ, and Hₖ are symmetric, drop the transposes on Gₖ and V₂. + // + // V₂ = W.solve(Gₖ) + StateMatrix V_2 = W_solver.solve(G_k); // Gₖ₊₁ = Gₖ + AₖV₂Aₖᵀ // Hₖ₊₁ = Hₖ + V₁ᵀHₖAₖ diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h index ccf8f935c4..22eddbc281 100644 --- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h @@ -397,8 +397,11 @@ class ExtendedKalmanFilter { // // Kᵀ = Sᵀ.solve(CPᵀ) // K = (Sᵀ.solve(CPᵀ))ᵀ - Matrixd K = - S.transpose().ldlt().solve(C * m_P.transpose()).transpose(); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + Matrixd K = S.ldlt().solve(C * m_P).transpose(); // x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + Kₖ₊₁(y − h(x̂ₖ₊₁⁻, uₖ₊₁)) m_xHat = addFuncX(m_xHat, K * residualFuncY(y, h(m_xHat, u))); diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h index 5f52c810ac..aa169368bb 100644 --- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h @@ -235,8 +235,11 @@ class KalmanFilter { // // Kᵀ = Sᵀ.solve(CPᵀ) // K = (Sᵀ.solve(CPᵀ))ᵀ - Matrixd K = - S.transpose().ldlt().solve(C * m_P.transpose()).transpose(); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + Matrixd K = S.ldlt().solve(C * m_P).transpose(); // x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − (Cx̂ₖ₊₁⁻ + Duₖ₊₁)) m_xHat += K * (y - (C * m_xHat + D * u)); diff --git a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h index a705de92bf..734c70c7e0 100644 --- a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h @@ -114,7 +114,11 @@ class SteadyStateKalmanFilter { // // Kᵀ = Sᵀ.solve(CPᵀ) // K = (Sᵀ.solve(CPᵀ))ᵀ - m_K = S.transpose().ldlt().solve(C * P.value().transpose()).transpose(); + // + // Drop the transposes on symmetric matrices S and P. + // + // K = (S.solve(CP))ᵀ + m_K = S.ldlt().solve(C * P.value()).transpose(); } else if (P.error() == DAREError::QNotSymmetric || P.error() == DAREError::QNotPositiveSemidefinite) { std::string msg = From b3aeee18c8a2d07cdb03b0ef0d13935ab9c6da4b Mon Sep 17 00:00:00 2001 From: Rain Heuer <63077980+rmheuer@users.noreply.github.com> Date: Thu, 31 Jul 2025 23:05:39 -0500 Subject: [PATCH 4/6] [wpimath] Add vector product and squared length operations to Translation2d/3d (#8133) Adds methods to compute the dot and cross products between Translation2ds and Translation3ds, as well as methods to compute the square of Distance and Norm, which allows avoiding some calls to sqrt in many cases. Co-authored-by: Tyler Veness --- .../first/math/geometry/Translation2d.java | 50 +++++++++++++++ .../first/math/geometry/Translation3d.java | 61 +++++++++++++++++- .../include/frc/geometry/Translation2d.h | 55 ++++++++++++++++ .../include/frc/geometry/Translation3d.h | 62 +++++++++++++++++++ .../math/geometry/Translation2dTest.java | 27 ++++++++ .../math/geometry/Translation3dTest.java | 32 ++++++++++ .../native/cpp/geometry/Translation2dTest.cpp | 23 +++++++ .../native/cpp/geometry/Translation3dTest.cpp | 27 ++++++++ 8 files changed, 335 insertions(+), 2 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java index 1612a5e5fa..10c7c123bd 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java @@ -109,6 +109,22 @@ public class Translation2d return Math.hypot(other.m_x - m_x, other.m_y - m_y); } + /** + * Calculates the square of the distance between two translations in 2D space. This is equivalent + * to squaring the result of {@link #getDistance(Translation2d)}, but avoids computing a square + * root. + * + *

The square of the distance between translations is defined as (x₂−x₁)²+(y₂−y₁)². + * + * @param other The translation to compute the squared distance to. + * @return The square of the distance between the two translations, in square meters. + */ + public double getSquaredDistance(Translation2d other) { + double dx = other.m_x - m_x; + double dy = other.m_y - m_y; + return dx * dx + dy * dy; + } + /** * Returns the X component of the translation. * @@ -165,6 +181,16 @@ public class Translation2d return Math.hypot(m_x, m_y); } + /** + * Returns the squared norm, or squared distance from the origin to the translation. This is + * equivalent to squaring the result of {@link #getNorm()}, but avoids computing a square root. + * + * @return The squared norm of the translation, in square meters. + */ + public double getSquaredNorm() { + return m_x * m_x + m_y * m_y; + } + /** * Returns the angle this translation forms with the positive X axis. * @@ -214,6 +240,30 @@ public class Translation2d (m_x - other.getX()) * rot.getSin() + (m_y - other.getY()) * rot.getCos() + other.getY()); } + /** + * Computes the dot product between this translation and another translation in 2D space. + * + *

The dot product between two translations is defined as x₁x₂+y₁y₂. + * + * @param other The translation to compute the dot product with. + * @return The dot product between the two translations, in square meters. + */ + public double dot(Translation2d other) { + return m_x * other.m_x + m_y * other.m_y; + } + + /** + * Computes the cross product between this translation and another translation in 2D space. + * + *

The 2D cross product between two translations is defined as x₁y₂-x₂y₁. + * + * @param other The translation to compute the cross product with. + * @return The cross product between the two translations, in square meters. + */ + public double cross(Translation2d other) { + return m_x * other.m_y - m_y * other.m_x; + } + /** * Returns the sum of two translations in 2D space. * diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java index a929661ee9..ff7eb01de6 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java @@ -125,8 +125,26 @@ public class Translation3d * @return The distance between the two translations. */ public double getDistance(Translation3d other) { - return Math.sqrt( - Math.pow(other.m_x - m_x, 2) + Math.pow(other.m_y - m_y, 2) + Math.pow(other.m_z - m_z, 2)); + double dx = other.m_x - m_x; + double dy = other.m_y - m_y; + double dz = other.m_z - m_z; + return Math.sqrt(dx * dx + dy * dy + dz * dz); + } + + /** + * Calculates the squared distance between two translations in 3D space. This is equivalent to + * squaring the result of {@link #getDistance(Translation3d)}, but avoids computing a square root. + * + *

The squared distance between translations is defined as (x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)². + * + * @param other The translation to compute the squared distance to. + * @return The squared distance between the two translations. + */ + public double getSquaredDistance(Translation3d other) { + double dx = other.m_x - m_x; + double dy = other.m_y - m_y; + double dz = other.m_z - m_z; + return dx * dx + dy * dy + dz * dz; } /** @@ -204,6 +222,16 @@ public class Translation3d return Math.sqrt(m_x * m_x + m_y * m_y + m_z * m_z); } + /** + * Returns the squared norm, or squared distance from the origin to the translation. This is + * equivalent to squaring the result of {@link #getNorm()}, but avoids computing a square root. + * + * @return The squared norm of the translation. + */ + public double getSquaredNorm() { + return m_x * m_x + m_y * m_y + m_z * m_z; + } + /** * Applies a rotation to the translation in 3D space. * @@ -230,6 +258,35 @@ public class Translation3d return this.minus(other).rotateBy(rot).plus(other); } + /** + * Computes the dot product between this translation and another translation in 3D space. + * + *

The dot product between two translations is defined as x₁x₂+y₁y₂+z₁z₂. + * + * @param other The translation to compute the dot product with. + * @return The dot product between the two translations, in square meters. + */ + public double dot(Translation3d other) { + return m_x * other.m_x + m_y * other.m_y + m_z * other.m_z; + } + + /** + * Computes the cross product between this translation and another translation in 3D space. The + * resulting translation will be perpendicular to both translations. + * + *

The 3D cross product between two translations is defined as <y₁z₂-y₂z₁, z₁x₂-z₂x₁, + * x₁y₂-x₂y₁>. + * + * @param other The translation to compute the cross product with. + * @return The cross product between the two translations. + */ + public Vector cross(Translation3d other) { + return VecBuilder.fill( + m_y * other.m_z - other.m_y * m_z, + m_z * other.m_x - other.m_z * m_x, + m_x * other.m_y - other.m_x * m_y); + } + /** * Returns a Translation2d representing this Translation3d projected into the X-Y plane. * diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h index a859743988..f6775ff2eb 100644 --- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h +++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h @@ -13,6 +13,7 @@ #include #include "frc/geometry/Rotation2d.h" +#include "units/area.h" #include "units/length.h" #include "units/math.h" @@ -75,6 +76,23 @@ class WPILIB_DLLEXPORT Translation2d { return units::math::hypot(other.m_x - m_x, other.m_y - m_y); } + /** + * Calculates the square of the distance between two translations in 2D space. + * This is equivalent to squaring the result of Distance(Translation2d), but + * avoids computing a square root. + * + * The square of the distance between translations is defined as + * (x₂−x₁)²+(y₂−y₁)². + * + * @param other The translation to compute the squared distance to. + * @return The square of the distance between the two translations. + */ + constexpr units::square_meter_t SquaredDistance( + const Translation2d& other) const { + return units::math::pow<2>(other.m_x - m_x) + + units::math::pow<2>(other.m_y - m_y); + } + /** * Returns the X component of the translation. * @@ -105,6 +123,17 @@ class WPILIB_DLLEXPORT Translation2d { */ constexpr units::meter_t Norm() const { return units::math::hypot(m_x, m_y); } + /** + * Returns the squared norm, or squared distance from the origin to the + * translation. This is equivalent to squaring the result of Norm(), but + * avoids computing a square root. + * + * @return The squared norm of the translation. + */ + constexpr units::square_meter_t SquaredNorm() const { + return units::math::pow<2>(m_x) + units::math::pow<2>(m_y); + } + /** * Returns the angle this translation forms with the positive X axis. * @@ -157,6 +186,32 @@ class WPILIB_DLLEXPORT Translation2d { other.Y()}; } + /** + * Computes the dot product between this translation and another translation + * in 2D space. + * + * The dot product between two translations is defined as x₁x₂+y₁y₂. + * + * @param other The translation to compute the dot product with. + * @return The dot product between the two translations. + */ + constexpr units::square_meter_t Dot(const Translation2d& other) const { + return m_x * other.X() + m_y * other.Y(); + } + + /** + * Computes the cross product between this translation and another translation + * in 2D space. + * + * The 2D cross product between two translations is defined as x₁y₂-x₂y₁. + * + * @param other The translation to compute the cross product with. + * @return The cross product between the two translations. + */ + constexpr units::square_meter_t Cross(const Translation2d& other) const { + return m_x * other.Y() - m_y * other.X(); + } + /** * Returns the sum of two translations in 2D space. * diff --git a/wpimath/src/main/native/include/frc/geometry/Translation3d.h b/wpimath/src/main/native/include/frc/geometry/Translation3d.h index b9876c05a3..166f871c59 100644 --- a/wpimath/src/main/native/include/frc/geometry/Translation3d.h +++ b/wpimath/src/main/native/include/frc/geometry/Translation3d.h @@ -14,6 +14,7 @@ #include "frc/geometry/Rotation3d.h" #include "frc/geometry/Translation2d.h" +#include "units/area.h" #include "units/length.h" #include "units/math.h" @@ -96,6 +97,24 @@ class WPILIB_DLLEXPORT Translation3d { units::math::pow<2>(other.m_z - m_z)); } + /** + * Calculates the squared distance between two translations in 3D space. This + * is equivalent to squaring the result of Distance(Translation3d), but avoids + * computing a square root. + * + * The squared distance between translations is defined as + * (x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)². + * + * @param other The translation to compute the squared distance to. + * @return The squared distance between the two translations. + */ + constexpr units::square_meter_t SquaredDistance( + const Translation3d& other) const { + return units::math::pow<2>(other.m_x - m_x) + + units::math::pow<2>(other.m_y - m_y) + + units::math::pow<2>(other.m_z - m_z); + } + /** * Returns the X component of the translation. * @@ -135,6 +154,17 @@ class WPILIB_DLLEXPORT Translation3d { return units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z); } + /** + * Returns the squared norm, or squared distance from the origin to the + * translation. This is equivalent to squaring the result of Norm(), but + * avoids computing a square root. + * + * @return The squared norm of the translation. + */ + constexpr units::square_meter_t SquaredNorm() const { + return m_x * m_x + m_y * m_y + m_z * m_z; + } + /** * Applies a rotation to the translation in 3D space. * @@ -164,6 +194,38 @@ class WPILIB_DLLEXPORT Translation3d { return (*this - other).RotateBy(rot) + other; } + /** + * Computes the dot product between this translation and another translation + * in 3D space. + * + * The dot product between two translations is defined as x₁x₂+y₁y₂+z₁z₂. + * + * @param other The translation to compute the dot product with. + * @return The dot product between the two translations. + */ + constexpr units::square_meter_t Dot(const Translation3d& other) const { + return m_x * other.X() + m_y * other.Y() + m_z * other.Z(); + } + + /** + * Computes the cross product between this translation and another + * translation in 3D space. The resulting translation will be perpendicular to + * both translations. + * + * The 3D cross product between two translations is defined as . + * + * @param other The translation to compute the cross product with. + * @return The cross product between the two translations. + */ + constexpr Eigen::Vector Cross( + const Translation3d& other) const { + return Eigen::Vector{ + {m_y * other.Z() - other.Y() * m_z}, + {m_z * other.X() - other.Z() * m_x}, + {m_x * other.Y() - other.X() * m_y}}; + } + /** * Returns a Translation2d representing this Translation3d projected into the * X-Y plane. diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java index 82ea7ab866..5514b90213 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java @@ -86,6 +86,12 @@ class Translation2dTest { assertEquals(Math.hypot(3.0, 5.0), one.getNorm(), kEpsilon); } + @Test + void testSquaredNorm() { + var one = new Translation2d(3.0, 5.0); + assertEquals(34.0, one.getSquaredNorm(), kEpsilon); + } + @Test void testDistance() { var one = new Translation2d(1, 1); @@ -93,6 +99,13 @@ class Translation2dTest { assertEquals(5.0 * Math.sqrt(2.0), one.getDistance(two), kEpsilon); } + @Test + void testSquaredDistance() { + var one = new Translation2d(1, 1); + var two = new Translation2d(6, 6); + assertEquals(50.0, one.getSquaredDistance(two), kEpsilon); + } + @Test void testUnaryMinus() { var original = new Translation2d(-4.5, 7); @@ -154,4 +167,18 @@ class Translation2dTest { assertEquals(vec, translation.toVector()); } + + @Test + void testDot() { + var one = new Translation2d(2.0, 3.0); + var two = new Translation2d(3.0, 4.0); + assertEquals(18.0, one.dot(two), kEpsilon); + } + + @Test + void testCross() { + var one = new Translation2d(2.0, 3.0); + var two = new Translation2d(3.0, 4.0); + assertEquals(-1.0, one.cross(two), kEpsilon); + } } diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java index 95a970ba6f..a8efcde086 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java @@ -149,6 +149,12 @@ class Translation3dTest { assertEquals(Math.sqrt(83.0), one.getNorm(), kEpsilon); } + @Test + void testSquaredNorm() { + var one = new Translation3d(3.0, 5.0, 7.0); + assertEquals(83.0, one.getSquaredNorm(), kEpsilon); + } + @Test void testDistance() { var one = new Translation3d(1.0, 1.0, 1.0); @@ -156,6 +162,13 @@ class Translation3dTest { assertEquals(5.0 * Math.sqrt(3.0), one.getDistance(two), kEpsilon); } + @Test + void testSquaredDistance() { + var one = new Translation3d(1.0, 1.0, 1.0); + var two = new Translation3d(6.0, 6.0, 6.0); + assertEquals(75.0, one.getSquaredDistance(two), kEpsilon); + } + @Test void testUnaryMinus() { var original = new Translation3d(-4.5, 7.0, 9.0); @@ -225,4 +238,23 @@ class Translation3dTest { assertEquals(translation1, origin.nearest(List.of(translation1, translation2, translation3))); assertEquals(translation2, origin.nearest(List.of(translation4, translation2, translation3))); } + + @Test + void testDot() { + var one = new Translation3d(1.0, 2.0, 3.0); + var two = new Translation3d(4.0, 5.0, 6.0); + assertEquals(32.0, one.dot(two)); + } + + @Test + void testCross() { + var one = new Translation3d(1.0, 2.0, 3.0); + var two = new Translation3d(4.0, 5.0, 6.0); + + var cross = one.cross(two); + assertAll( + () -> assertEquals(-3.0, cross.get(0, 0), kEpsilon), + () -> assertEquals(6.0, cross.get(1, 0), kEpsilon), + () -> assertEquals(-3.0, cross.get(2, 0), kEpsilon)); + } } diff --git a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp index 294c213a3d..e44e334aec 100644 --- a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp @@ -68,12 +68,23 @@ TEST(Translation2dTest, Norm) { EXPECT_DOUBLE_EQ(std::hypot(3.0, 5.0), one.Norm().value()); } +TEST(Translation2dTest, SquaredNorm) { + const Translation2d one{3_m, 5_m}; + EXPECT_DOUBLE_EQ(34.0, one.SquaredNorm().value()); +} + TEST(Translation2dTest, Distance) { const Translation2d one{1_m, 1_m}; const Translation2d two{6_m, 6_m}; EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), one.Distance(two).value()); } +TEST(Translation2dTest, SquaredDistance) { + const Translation2d one{1_m, 1_m}; + const Translation2d two{6_m, 6_m}; + EXPECT_DOUBLE_EQ(50.0, one.SquaredDistance(two).value()); +} + TEST(Translation2dTest, UnaryMinus) { const Translation2d original{-4.5_m, 7_m}; const auto inverted = -original; @@ -162,3 +173,15 @@ TEST(Translation2dTest, Constexpr) { static_assert(multiplied.X() == 2_m); static_assert(divided.Y() == 1_m); } + +TEST(Translation2dTest, Dot) { + const Translation2d one{2_m, 3_m}; + const Translation2d two{3_m, 4_m}; + EXPECT_DOUBLE_EQ(18.0, one.Dot(two).value()); +} + +TEST(Translation2dTest, Cross) { + const Translation2d one{2_m, 3_m}; + const Translation2d two{3_m, 4_m}; + EXPECT_DOUBLE_EQ(-1.0, one.Cross(two).value()); +} diff --git a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp index b297f1217c..cdc7a6ebb7 100644 --- a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp @@ -114,12 +114,23 @@ TEST(Translation3dTest, Norm) { EXPECT_NEAR(one.Norm().value(), std::hypot(3, 5, 7), kEpsilon); } +TEST(Translation3dTest, SquaredNorm) { + const Translation3d one{3_m, 5_m, 7_m}; + EXPECT_NEAR(one.SquaredNorm().value(), 83.0, kEpsilon); +} + TEST(Translation3dTest, Distance) { const Translation3d one{1_m, 1_m, 1_m}; const Translation3d two{6_m, 6_m, 6_m}; EXPECT_NEAR(one.Distance(two).value(), 5 * std::sqrt(3), kEpsilon); } +TEST(Translation3dTest, SquaredDistance) { + const Translation3d one{1_m, 1_m, 1_m}; + const Translation3d two{6_m, 6_m, 6_m}; + EXPECT_NEAR(one.SquaredDistance(two).value(), 75.0, kEpsilon); +} + TEST(Translation3dTest, UnaryMinus) { const Translation3d original{-4.5_m, 7_m, 9_m}; const auto inverted = -original; @@ -214,3 +225,19 @@ TEST(Translation3dTest, Nearest) { EXPECT_DOUBLE_EQ(nearest3.Y().value(), translation2.Y().value()); EXPECT_DOUBLE_EQ(nearest3.Z().value(), translation2.Z().value()); } + +TEST(Translation3dTest, Dot) { + const Translation3d one{1_m, 2_m, 3_m}; + const Translation3d two{4_m, 5_m, 6_m}; + EXPECT_NEAR(one.Dot(two).value(), 32.0, kEpsilon); +} + +TEST(Translation3dTest, Cross) { + const Translation3d one{1_m, 2_m, 3_m}; + const Translation3d two{4_m, 5_m, 6_m}; + + auto cross = one.Cross(two); + EXPECT_NEAR(cross[0].value(), -3.0, kEpsilon); + EXPECT_NEAR(cross[1].value(), 6.0, kEpsilon); + EXPECT_NEAR(cross[2].value(), -3.0, kEpsilon); +} From c42fde5d078799cc9d8a5e3b241512841db420ea Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sun, 3 Aug 2025 14:37:40 -0400 Subject: [PATCH 5/6] [ci] Make upstream_utils check error with a more clear message (#8153) Now it links to the README in upstream_utils. --- .github/workflows/upstream-utils.yml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml index e4d97ca387..2a10457dad 100644 --- a/.github/workflows/upstream-utils.yml +++ b/.github/workflows/upstream-utils.yml @@ -141,4 +141,11 @@ jobs: - name: Add untracked files to index so they count as changes run: git add -A - name: Check output - run: git --no-pager diff --exit-code HEAD ':!*.bazel' + run: | + set +e + git --no-pager diff --exit-code HEAD ':!*.bazel' + git_exit_code=$? + if test "$git_exit_code" -ne "0"; then + echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md" + exit $git_exit_code + fi From 2d11946d98c6942d46ee1d3decfc32508fe44cbb Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sun, 3 Aug 2025 14:41:25 -0400 Subject: [PATCH 6/6] [wpical] Use updated thirdparty-ceres and move resource files (#8151) --- README.md | 2 - shared/ceres.gradle | 6 +- upstream_utils/eigen.py | 9 + upstream_utils/mrcal_java.py | 3 + wpical/.styleguide | 1 + wpical/CMakeLists.txt | 7 + wpical/WPICalThirdPartyNotices.txt | 732 ++++++++++++++++++ wpical/build.gradle | 20 +- wpical/publish.gradle | 4 + .../{resources => assets}/2024-crescendo.json | 0 .../altfieldvideo/long.avi | Bin .../altfieldvideo/short.avi | Bin .../{resources => assets}/fieldvideo/long.mp4 | Bin .../fieldvideo/short.mp4 | Bin .../lifecam_1280p_10x10.vnl | 0 .../{resources => assets}/testcalibration.avi | Bin .../{resources => assets}/testcalibration.mp4 | Bin wpical/src/main/native/cpp/tagpose.cpp | 2 + .../mrcal_java/include/mrcal_wrapper.h | 2 +- wpical/src/test/native/cpp/test_calibrate.cpp | 3 +- .../thirdparty/eigen/include/Eigen/Dense | 7 + .../thirdparty/eigen/include/Eigen/StdVector | 30 + .../include/Eigen/src/StlSupport/StdVector.h | 51 ++ .../include/Eigen/src/StlSupport/details.h | 82 ++ 24 files changed, 946 insertions(+), 15 deletions(-) create mode 100644 wpical/WPICalThirdPartyNotices.txt rename wpical/src/main/native/{resources => assets}/2024-crescendo.json (100%) rename wpical/src/main/native/{resources => assets}/altfieldvideo/long.avi (100%) rename wpical/src/main/native/{resources => assets}/altfieldvideo/short.avi (100%) rename wpical/src/main/native/{resources => assets}/fieldvideo/long.mp4 (100%) rename wpical/src/main/native/{resources => assets}/fieldvideo/short.mp4 (100%) rename wpical/src/main/native/{resources => assets}/lifecam_1280p_10x10.vnl (100%) rename wpical/src/main/native/{resources => assets}/testcalibration.avi (100%) rename wpical/src/main/native/{resources => assets}/testcalibration.mp4 (100%) create mode 100644 wpimath/src/main/native/thirdparty/eigen/include/Eigen/Dense create mode 100644 wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector create mode 100644 wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h create mode 100644 wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h diff --git a/README.md b/README.md index 565623105f..8d267e261d 100644 --- a/README.md +++ b/README.md @@ -59,8 +59,6 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM. -On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms. - ## Setup Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build. diff --git a/shared/ceres.gradle b/shared/ceres.gradle index beaaa113f3..c9a9276369 100644 --- a/shared/ceres.gradle +++ b/shared/ceres.gradle @@ -1,12 +1,14 @@ nativeUtils { nativeDependencyContainer { ceres(getNativeDependencyTypeClass('WPIStaticMavenDependency')) { - groupId = "edu.wpi.first.thirdparty.frc2024.ceres" + groupId = "edu.wpi.first.thirdparty.frc2026.ceres" artifactId = "ceres-cpp" headerClassifier = "headers" + sourceClassifier = "sources" ext = "zip" - version = '2.2-3' + version = '2.2-1' targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms) + targetPlatforms.addAll("linuxarm32", "linuxarm64") } } } diff --git a/upstream_utils/eigen.py b/upstream_utils/eigen.py index 93f68f79d5..fdd9f580f9 100755 --- a/upstream_utils/eigen.py +++ b/upstream_utils/eigen.py @@ -47,10 +47,18 @@ def eigen_inclusions(dp: Path, f: str): or "SSE" in dp.parts ) + if ( + "StlSupport" in dp.parts + and not f.endswith("StdList.h") + and not f.endswith("StdDeque.h") + ): + return True + # Include the following modules modules = [ "Cholesky", "Core", + "Dense", "Eigenvalues", "Geometry", "Householder", @@ -64,6 +72,7 @@ def eigen_inclusions(dp: Path, f: str): "SparseCore", "SparseLU", "SparseQR", + "StdVector", "misc", "plugins", ] diff --git a/upstream_utils/mrcal_java.py b/upstream_utils/mrcal_java.py index 11f3e120e9..5545411834 100755 --- a/upstream_utils/mrcal_java.py +++ b/upstream_utils/mrcal_java.py @@ -32,6 +32,9 @@ def copy_upstream_src(wpilib_root: Path): with open(f) as file: content = file.read() content = content.replace("#include ", "") + content = content.replace( + "suitesparse/cholmod_core.h", "suitesparse/cholmod.h" + ) content = content.replace( "// mrcal_point3_t *c_observations_point_pool = observations_point;", "mrcal_point3_t *c_observations_point_pool = observations_point;", diff --git a/wpical/.styleguide b/wpical/.styleguide index afaf7a1075..19766ff2c6 100644 --- a/wpical/.styleguide +++ b/wpical/.styleguide @@ -9,6 +9,7 @@ cppSrcFileInclude { } generatedFileExclude { + src/main/native/assets/ src/main/native/resources/ src/main/native/thirdparty/ src/main/native/win/wpical.ico diff --git a/wpical/CMakeLists.txt b/wpical/CMakeLists.txt index f07d52755a..185bcf036c 100644 --- a/wpical/CMakeLists.txt +++ b/wpical/CMakeLists.txt @@ -83,12 +83,17 @@ target_compile_options(wpical PRIVATE ${compile_flags}) find_package(OpenCV REQUIRED) find_package(Ceres CONFIG REQUIRED) +find_package(CHOLMOD CONFIG REQUIRED) +find_package(SuiteSparse_config CONFIG REQUIRED) + target_link_libraries( wpical apriltag ${OpenCV_LIBS} wpigui wpiutil + SuiteSparse::CHOLMOD_static + SuiteSparse::SuiteSparseConfig_static Ceres::ceres ) @@ -124,6 +129,8 @@ if(WITH_TESTS) ${OpenCV_LIBS} wpigui wpiutil + SuiteSparse::CHOLMOD_static + SuiteSparse::SuiteSparseConfig_static Ceres::ceres ) endif() diff --git a/wpical/WPICalThirdPartyNotices.txt b/wpical/WPICalThirdPartyNotices.txt new file mode 100644 index 0000000000..9c22d6d58c --- /dev/null +++ b/wpical/WPICalThirdPartyNotices.txt @@ -0,0 +1,732 @@ +============================================================================== +Copyrights and Licenses for Third Party Software Distributed with WPICal +============================================================================== +The WPICal software contains code written by third parties. The copyrights, +license, and restrictions which apply to each piece of software is included +later in this file and/or inside of the individual applicable source files. + +The disclaimer of warranty in the WPILib license above applies to all code in +WPILib, including WPICal and nothing in any of the other licenses gives +permission to use the names of FIRST nor the names of the WPILib contributors +to endorse or promote products derived from this software. + +The following pieces of software have additional or alternate copyrights, +licenses, and/or restrictions: + +Program Locations +------- --------- +AMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse +CAMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse +CCOLAMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse +Ceres https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/ceres-solver/ceres-solver +CHOLMOD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse +OpenBLAS (non-Mac only) https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/OpenMathLib/OpenBLAS + +AMD, Copyright (c), 1996-2022, Timothy A. Davis, +Patrick R. Amestoy, and Iain S. Duff. All Rights Reserved. + +Availability: + + http://www.suitesparse.com + +------------------------------------------------------------------------------- +AMD License: BSD 3-clause: +------------------------------------------------------------------------------- + + 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 organizations to which the authors are + affiliated, 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. 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Davis for details. + +Availability: + + http://www.suitesparse.com + +------------------------------------------------------------------------------- +CAMD License: BSD 3-clause: +------------------------------------------------------------------------------- + + 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 organizations to which the authors are + affiliated, 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. 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Davis CHOLMOD is + also available under other licenses; contact authors for details. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Check module only. + All CHOLMOD modules are licensed separately. + + ---------------------------------------------------------------------------- + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +-------------------------------------------------------------------------------- +==> Cholesky/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Cholesky module, Copyright (C) 2005-2022, Timothy A. Davis. + CHOLMOD is also available under other licenses; contact authors for + details. http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Cholesky module only. + All CHOLMOD modules are licensed separately. + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +-------------------------------------------------------------------------------- +==> Utility/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Utility Module. Copyright (C) 2023, Timothy A. Davis, All Rights + Reserved. CHOLMOD is also available under other licenses; contact authors + for details. http://www.suitesparse.com + + ---------------------------------------------------------------------------- + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +-------------------------------------------------------------------------------- +==> Demo/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Demo Module. Copyright (C) 2005-2022, Timothy A. Davis. CHOLMOD + is also available under other licenses; contact authors for details. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Demo module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +-------------------------------------------------------------------------------- +==> MATLAB/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/MATLAB Module. Copyright (C) 2005-2022, Timothy A. Davis. CHOLMOD + is also available under other licenses; contact authors for details. + MATLAB(tm) is a Registered Trademark of The MathWorks, Inc. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/MATLAB module only. + All CHOLMOD modules are licensed separately. + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +-------------------------------------------------------------------------------- +==> MatrixOps/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/MatrixOps Module. Copyright (C) 2005-2022, Timothy A. Davis. + CHOLMOD is also available under other licenses; contact authors for + details. http://www.suitesparse.com + + Note that this license is for the CHOLMOD/MatrixOps module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +-------------------------------------------------------------------------------- +==> Modify/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Modify Module. Copyright (C) 2005-2022, Timothy A. Davis and + William W. Hager. CHOLMOD is also available under other licenses; contact + authors for details. http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Modify module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +-------------------------------------------------------------------------------- +==> Partition/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Partition Module. + Copyright (C) 2005-2022, Univ. of Florida. Author: Timothy A. Davis + CHOLMOD is also available under other licenses; contact authors for details. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Partition module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +-------------------------------------------------------------------------------- +==> Supernodal/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Supernodal Module. + Copyright (C) 2005-2022, Timothy A. Davis + CHOLMOD is also available under other licenses; contact authors for details. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Supernodal module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +-------------------------------------------------------------------------------- +==> Tcov/License.txt <== +-------------------------------------------------------------------------------- + + CHOLMOD/Tcov Module. Copyright (C) 2005-2022, Timothy A. Davis + CHOLMOD is also available under other licenses; contact authors for details. + http://www.suitesparse.com + + Note that this license is for the CHOLMOD/Tcov module only. + All CHOLMOD modules are licensed separately. + + + ---------------------------------------------------------------------------- + + + This Module is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + as published by the Free Software Foundation; either version 2 + of the License, or (at your option) any later version. + + This Module is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this Module; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA. + +COLAMD, Copyright 1998-2022, Timothy A. Davis. http://www.suitesparse.com +http://www.suitesparse.com + +-------------------------------------------------------------------------------- + +COLAMD License: BSD 3-clause + + 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 organizations to which the authors are + affiliated, 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 HOLDERS 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. + +Copyright (c) 2011-2014, The OpenBLAS Project +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + 2. 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. + 3. Neither the name of the OpenBLAS project 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 OWNER 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. diff --git a/wpical/build.gradle b/wpical/build.gradle index eea250c903..0e6fa74200 100644 --- a/wpical/build.gradle +++ b/wpical/build.gradle @@ -1,6 +1,6 @@ import org.gradle.internal.os.OperatingSystem -if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) { +if (project.hasProperty('onlylinuxathena')) { return; } @@ -120,7 +120,7 @@ nativeUtils.platformConfigs.each { it.cppCompiler.args.add("-fpermissive") } } -def testResources = "\"$rootDir/wpical/src/main/native/resources\"".replace("\\", "/") +def testResources = "\"$rootDir/wpical/src/main/native/assets\"".replace("\\", "/") model { components { "${nativeName}"(NativeExecutableSpec) { @@ -152,16 +152,18 @@ model { } } binaries.all { - if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) { + if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) { it.buildable = false return } + lib project: ':apriltag', library: 'apriltag', linkage: 'static' + lib project: ':wpimath', library: 'wpimath', linkage: 'static' lib project: ':wpiutil', library: 'wpiutil', linkage: 'static' lib project: ':wpigui', library: 'wpigui', linkage: 'static' lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static' - lib project: ':apriltag', library: 'apriltag', linkage: 'static' nativeUtils.useRequiredLibrary(it, 'ceres') nativeUtils.useRequiredLibrary(it, 'opencv_static') + it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT' it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT' if (it.targetPlatform.operatingSystem.isWindows()) { it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)') @@ -175,7 +177,7 @@ model { } else if (it.targetPlatform.operatingSystem.isMacOsX()) { it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate' } else { - it.linker.args << '-lX11' << "-lgfortran" + it.linker.args << '-lX11' if (it.targetPlatform.name.startsWith('linuxarm')) { it.linker.args << '-lGL' } @@ -203,16 +205,18 @@ model { } } binaries.all { - if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) { + if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) { it.buildable = false return } + lib project: ':apriltag', library: 'apriltag', linkage: 'static' + lib project: ':wpimath', library: 'wpimath', linkage: 'static' lib project: ':wpiutil', library: 'wpiutil', linkage: 'static' lib project: ':wpigui', library: 'wpigui', linkage: 'static' lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static' - lib project: ':apriltag', library: 'apriltag', linkage: 'static' nativeUtils.useRequiredLibrary(it, 'ceres') nativeUtils.useRequiredLibrary(it, 'opencv_static') + it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT' it.cppCompiler.define('PROJECT_ROOT_PATH', testResources) it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT' if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) { @@ -236,7 +240,7 @@ model { } else if (it.targetPlatform.operatingSystem.isMacOsX()) { it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate' } else { - it.linker.args << '-lX11' << '-lgfortran' + it.linker.args << '-lX11' if (it.targetPlatform.name.startsWith('linuxarm')) { it.linker.args << '-lGL' } diff --git a/wpical/publish.gradle b/wpical/publish.gradle index d00f47aafb..5af5956239 100644 --- a/wpical/publish.gradle +++ b/wpical/publish.gradle @@ -42,6 +42,10 @@ model { into '/' } + from(file("$rootDir/wpical/WPICalThirdPartyNotices.txt")) { + into '/' + } + if (binary.targetPlatform.operatingSystem.isWindows()) { def exePath = binary.executable.file.absolutePath exePath = exePath.substring(0, exePath.length() - 4) diff --git a/wpical/src/main/native/resources/2024-crescendo.json b/wpical/src/main/native/assets/2024-crescendo.json similarity index 100% rename from wpical/src/main/native/resources/2024-crescendo.json rename to wpical/src/main/native/assets/2024-crescendo.json diff --git a/wpical/src/main/native/resources/altfieldvideo/long.avi b/wpical/src/main/native/assets/altfieldvideo/long.avi similarity index 100% rename from wpical/src/main/native/resources/altfieldvideo/long.avi rename to wpical/src/main/native/assets/altfieldvideo/long.avi diff --git a/wpical/src/main/native/resources/altfieldvideo/short.avi b/wpical/src/main/native/assets/altfieldvideo/short.avi similarity index 100% rename from wpical/src/main/native/resources/altfieldvideo/short.avi rename to wpical/src/main/native/assets/altfieldvideo/short.avi diff --git a/wpical/src/main/native/resources/fieldvideo/long.mp4 b/wpical/src/main/native/assets/fieldvideo/long.mp4 similarity index 100% rename from wpical/src/main/native/resources/fieldvideo/long.mp4 rename to wpical/src/main/native/assets/fieldvideo/long.mp4 diff --git a/wpical/src/main/native/resources/fieldvideo/short.mp4 b/wpical/src/main/native/assets/fieldvideo/short.mp4 similarity index 100% rename from wpical/src/main/native/resources/fieldvideo/short.mp4 rename to wpical/src/main/native/assets/fieldvideo/short.mp4 diff --git a/wpical/src/main/native/resources/lifecam_1280p_10x10.vnl b/wpical/src/main/native/assets/lifecam_1280p_10x10.vnl similarity index 100% rename from wpical/src/main/native/resources/lifecam_1280p_10x10.vnl rename to wpical/src/main/native/assets/lifecam_1280p_10x10.vnl diff --git a/wpical/src/main/native/resources/testcalibration.avi b/wpical/src/main/native/assets/testcalibration.avi similarity index 100% rename from wpical/src/main/native/resources/testcalibration.avi rename to wpical/src/main/native/assets/testcalibration.avi diff --git a/wpical/src/main/native/resources/testcalibration.mp4 b/wpical/src/main/native/assets/testcalibration.mp4 similarity index 100% rename from wpical/src/main/native/resources/testcalibration.mp4 rename to wpical/src/main/native/assets/testcalibration.mp4 diff --git a/wpical/src/main/native/cpp/tagpose.cpp b/wpical/src/main/native/cpp/tagpose.cpp index 38977f0961..ec871d5651 100644 --- a/wpical/src/main/native/cpp/tagpose.cpp +++ b/wpical/src/main/native/cpp/tagpose.cpp @@ -3,7 +3,9 @@ // the WPILib BSD license file in the root directory of this project. #include +#include +WPI_IGNORE_DEPRECATED namespace tag { Pose::Pose(int tag_id, double xpos, double ypos, double zpos, double w, double x, double y, double z, double field_length_meters, diff --git a/wpical/src/main/native/thirdparty/mrcal_java/include/mrcal_wrapper.h b/wpical/src/main/native/thirdparty/mrcal_java/include/mrcal_wrapper.h index 0a36d4702d..dc7e02eb2d 100644 --- a/wpical/src/main/native/thirdparty/mrcal_java/include/mrcal_wrapper.h +++ b/wpical/src/main/native/thirdparty/mrcal_java/include/mrcal_wrapper.h @@ -24,7 +24,7 @@ extern "C" { // Seems like these people don't properly extern-c their headers either extern "C" { #include -#include +#include } // extern "C" #include diff --git a/wpical/src/test/native/cpp/test_calibrate.cpp b/wpical/src/test/native/cpp/test_calibrate.cpp index 0e48bcf018..a7837e7e17 100644 --- a/wpical/src/test/native/cpp/test_calibrate.cpp +++ b/wpical/src/test/native/cpp/test_calibrate.cpp @@ -12,8 +12,7 @@ const std::string projectRootPath = PROJECT_ROOT_PATH; const std::string calSavePath = - projectRootPath.substr(0, - projectRootPath.find("/src/main/native/resources")) + + projectRootPath.substr(0, projectRootPath.find("/src/main/native/assets")) + "/build"; cameracalibration::CameraModel cameraModel = { .intrinsic_matrix = Eigen::Matrix::Identity(), diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Dense b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Dense new file mode 100644 index 0000000000..5768910bd8 --- /dev/null +++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Dense @@ -0,0 +1,7 @@ +#include "Core" +#include "LU" +#include "Cholesky" +#include "QR" +#include "SVD" +#include "Geometry" +#include "Eigenvalues" diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector new file mode 100644 index 0000000000..711a654eab --- /dev/null +++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector @@ -0,0 +1,30 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud +// Copyright (C) 2009 Hauke Heibel +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_STDVECTOR_MODULE_H +#define EIGEN_STDVECTOR_MODULE_H + +#include "Core" +#include + +#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && \ + (EIGEN_MAX_STATIC_ALIGN_BYTES <= 16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */ + +#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) + +#else + +// IWYU pragma: begin_exports +#include "src/StlSupport/StdVector.h" +// IWYU pragma: end_exports + +#endif + +#endif // EIGEN_STDVECTOR_MODULE_H diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h new file mode 100644 index 0000000000..dd538e9541 --- /dev/null +++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h @@ -0,0 +1,51 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud +// Copyright (C) 2009 Hauke Heibel +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_STDVECTOR_H +#define EIGEN_STDVECTOR_H + +#ifndef EIGEN_STDVECTOR_MODULE_H +#error "Please include Eigen/StdVector instead of including this file directly." +#endif + +#include "details.h" + +/** + * This section contains a convenience MACRO which allows an easy specialization of + * std::vector such that for data types with alignment issues the correct allocator + * is used automatically. + */ +#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \ + namespace std { \ + template <> \ + class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > \ + : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > { \ + typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \ + \ + public: \ + typedef __VA_ARGS__ value_type; \ + typedef vector_base::allocator_type allocator_type; \ + typedef vector_base::size_type size_type; \ + typedef vector_base::iterator iterator; \ + explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \ + template \ + vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \ + : vector_base(first, last, a) {} \ + vector(const vector& c) : vector_base(c) {} \ + explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \ + vector(iterator start_, iterator end_) : vector_base(start_, end_) {} \ + vector& operator=(const vector& x) { \ + vector_base::operator=(x); \ + return *this; \ + } \ + }; \ + } + +#endif // EIGEN_STDVECTOR_H diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h new file mode 100644 index 0000000000..9bc9d21074 --- /dev/null +++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h @@ -0,0 +1,82 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud +// Copyright (C) 2009 Hauke Heibel +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_STL_DETAILS_H +#define EIGEN_STL_DETAILS_H + +#ifndef EIGEN_ALIGNED_ALLOCATOR +#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator +#endif + +namespace Eigen { + +// This one is needed to prevent reimplementing the whole std::vector. +template +class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR { + public: + typedef std::size_t size_type; + typedef std::ptrdiff_t difference_type; + typedef T* pointer; + typedef const T* const_pointer; + typedef T& reference; + typedef const T& const_reference; + typedef T value_type; + + template + struct rebind { + typedef aligned_allocator_indirection other; + }; + + aligned_allocator_indirection() {} + aligned_allocator_indirection(const aligned_allocator_indirection&) : EIGEN_ALIGNED_ALLOCATOR() {} + aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR&) {} + template + aligned_allocator_indirection(const aligned_allocator_indirection&) {} + template + aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR&) {} + ~aligned_allocator_indirection() {} +}; + +#if EIGEN_COMP_MSVC + +// sometimes, MSVC detects, at compile time, that the argument x +// in std::vector::resize(size_t s,T x) won't be aligned and generate an error +// even if this function is never called. Whence this little wrapper. +#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \ + std::conditional_t::value, T, Eigen::internal::workaround_msvc_stl_support > + +namespace internal { +template +struct workaround_msvc_stl_support : public T { + inline workaround_msvc_stl_support() : T() {} + inline workaround_msvc_stl_support(const T& other) : T(other) {} + inline operator T&() { return *static_cast(this); } + inline operator const T&() const { return *static_cast(this); } + template + inline T& operator=(const OtherT& other) { + T::operator=(other); + return *this; + } + inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other) { + T::operator=(other); + return *this; + } +}; +} // namespace internal + +#else + +#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T + +#endif + +} // namespace Eigen + +#endif // EIGEN_STL_DETAILS_H