Spotng

Conventions

Coordinate

       x(front)
       |

(left)y -- . z

Euler Angle

Use ZYX, which means RPY will rotated in order of Yaw Pitch Roll

Install

Install from linux package

Download linux package and install it using related package manager:

Ubuntu/Debian

curl -LO https://github.com/sdustio/spotng/releases/download/1.0.1/spotng_1.0.1_amd64.deb
sudo dpkg -i spotng_1.0.1_amd64.deb

Redhat/CentOS

curl -LO https://github.com/sdustio/spotng/releases/download/1.0.1/spotng-1.0.1-1.x86_64.rpm
sudo rpm -i spotng-1.0.1-1.x86_64.rpm

Install from source

Requirements

• vcpkg

Build and Install

assume $VCPKG_ROOT stands for root path of vcpkg

vcpkg install eigen3 spdlog
cmake -DCMAKE_INSTALL_PREFIX:STRING=/opt \
  -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake \
  -H$(pwd) -B$(pwd)/build-release
cmake --build $(pwd)/build-release --target install

Usage

see /test/example*_test.cc

Contribute to Spotng

1. setup develop environments, We use Visual Studio Code Remote Development Extension: Container

2. change some code

3. run linter and test as follows, make them pass

./fmt-lint.sh
cppcheck --std=c++17 --quiet --enable=performance,portability ./source
cmake -DSPOTNG_BUILD_TESTS:BOOL=TRUE -DCMAKE_BUILD_TYPE:STRING=Debug \
  -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake \
  -H$(pwd) -B$(pwd)/build
cmake --build $(pwd)/build --target all
cd $(pwd)/build
ctest
ctest -T memcheck

4. create a pull request