endswith() leaves files out from subdirectories, which means projects
that add new subdirectories won't have those files included when they
probably should be.
FetchContent requires CMake 3.11 (released Mar 28, 2018).
Fixed this warning:
```
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1316 (message):
The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
not set. The policy's OLD behavior will be used. When using a URL
download, the timestamps of extracted files should preferably be that of
the time of extraction, otherwise code that depends on the extracted
contents might not be rebuilt if the URL changes. The OLD behavior
preserves the timestamps from the archive instead, but this is usually not
what you want. Update your project to the NEW behavior or specify the
DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
robustness issue.
Call Stack (most recent call first):
imgui/CMakeLists.txt:23 (FetchContent_Declare)
```
Previously this was unlimited, which could result in holding on to a
large amount of memory if the connection got backlogged or a burst of
data transmission occurred.
The following source code changes were required:
* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
"NonSerializableClass"
* Declared more class members as final
Destructing either of the multicast objects during process shutdown will result in a crash due to attempting to start a task on the non-existent thread pool.
Solve this by just leaking all the handles upon destruction of the static multicast manager. This won't solve the case where the user statically allocates the object, but solves Java and C access, and most cases wouldn't be statically allocating the service announcer anyway in C++.
Made JNI modifications to expose the faster function, made the API use
the typesafe Matrix API, and synchronized the documentation with C++.
Sped up C++ LTV diff drive test from 20 ms to 15 ms.
Sped up C++ LTV unicycle test from 15 ms to 10 ms.
Both seem to work, but the SDA algorithm is specifically recommended for
solving DAREs as opposed to P-DAREs.
The QR decomposition was replaced with a partial pivoting LU
decomposition at the recommendation of section 2.4 of the paper.
More tests and a separate JNI function for each DARE solver variant were
added.
This avoids allocation overhead on construction. times() was also
rewritten to not allocate any temporary objects.
Getter calls in the C++ Quaternion class were modified for parity.
Current timestamp read code uses FPGA register reads. Through testing,
this read was slower then clock_gettime by about 4-5x. However, another
method of reading the FPGA time is available, using HMB. HMB
is memory mapped IO from RAM to the FPGA. So to code side,
reading the value is just a memory barrier and a memory read.
There is some latency on the write side, so a very small artifical delay
(5us) is added to avoid register reads such as interrupts being ahead
of current timestamps, which could cause issues.
Below is read times for 1000 calls to clock_gettime, register reads and
hmb reads.
```
Clock: Rise 1.72939400 s Fall 1.72990700 s Delta 0.00051300 s
FPGA : Rise 1.72999000 s Fall 1.73429300 s Delta 0.00430300 s
HMB : Rise 1.73466800 s Fall 1.73481900 s Delta 0.00015100 s
```
Also add full HMB struct to HAL for future usage.
