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Addisu Z. Taddese
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Merge branch 'gz-math8' into patch-1
2 parents 077dcd6 + c35a71a commit 3383344

104 files changed

Lines changed: 1293 additions & 798 deletions

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‎.bazelrc‎

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common --enable_bzlmod
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common --lockfile_mode=off
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# Add C++17 compiler flags.
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build --cxxopt=-std=c++17
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build --host_cxxopt=-std=c++17
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build --force_pic
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build --strip=never
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build --strict_system_includes
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build --fission=dbg
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build --features=per_object_debug_info
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# Enable header processing, required for layering checks with parse_header.
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build --process_headers_in_dependencies

‎.bazelversion‎

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7.3.1

‎.github/ci/after_make.sh‎

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@@ -15,4 +15,11 @@ cmake ..
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make
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./graph_example
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# Compile python bindings
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cd $BUILD_DIR/../src/python_pybind11
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mkdir build;
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cd build;
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cmake ..;
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make;
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cd $BUILD_DIR

‎.github/workflows/bazel.yml‎

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name: Bazel CI
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on:
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push:
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branches: [gz-math8, main]
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pull_request:
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branches: [gz-math8, main]
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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jobs:
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test:
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uses: bazel-contrib/.github/.github/workflows/bazel.yaml@v7
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with:
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folders: |
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[
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".",
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]
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exclude: |
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[
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{"folder": ".", "bzlmodEnabled": false},
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]

‎.github/workflows/ci.bazelrc‎

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# This file contains Bazel settings to apply on CI only.
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# It is referenced with a --bazelrc option in the call to bazel in ci.yaml
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# Debug where options came from
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build --announce_rc
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# This directory is configured in GitHub actions to be persisted between runs.
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# We do not enable the repository cache to cache downloaded external artifacts
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# as these are generally faster to download again than to fetch them from the
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# GitHub actions cache.
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build --disk_cache=~/.cache/bazel
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# Don't rely on test logs being easily accessible from the test runner,
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# though it makes the log noisier.
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test --test_output=errors
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# Allows tests to run bazelisk-in-bazel, since this is the cache folder used
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test --test_env=XDG_CACHE_HOME

‎.github/workflows/ci.yml‎

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@@ -20,9 +20,6 @@ jobs:
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uses: gazebo-tooling/action-gz-ci@jammy
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with:
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codecov-enabled: true
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cppcheck-enabled: true
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cpplint-enabled: true
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doxygen-enabled: true
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noble-ci:
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runs-on: ubuntu-latest
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name: Ubuntu Noble CI
@@ -32,3 +29,7 @@ jobs:
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- name: Compile and test
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id: ci
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uses: gazebo-tooling/action-gz-ci@noble
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with:
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cppcheck-enabled: true
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cpplint-enabled: true
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doxygen-enabled: true

‎.gitignore‎

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@@ -8,3 +8,6 @@ build_*
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# Python generaated files
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*.pyc
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# Bazel generated files
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bazel-*

‎BUILD.bazel‎

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@@ -1,25 +1,16 @@
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load(
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"@gz//bazel/skylark:build_defs.bzl",
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"GZ_FEATURES",
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"GZ_ROOT",
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"GZ_VISIBILITY",
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"gz_configure_header",
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"gz_export_header",
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"gz_include_header",
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)
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load(
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"@gz//bazel/lint:lint.bzl",
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"add_lint_tests",
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)
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load(
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"@rules_license//rules:license.bzl",
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"license",
17-
)
1+
load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
2+
load("@rules_gazebo//gazebo:headers.bzl", "gz_configure_header", "gz_export_header", "gz_include_header")
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load("@rules_license//rules:license.bzl", "license")
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load("@rules_python//python:py_library.bzl", "py_library")
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load("@rules_python//python:py_test.bzl", "py_test")
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package(
20-
default_applicable_licenses = [GZ_ROOT + "math:license"],
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default_visibility = GZ_VISIBILITY,
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features = GZ_FEATURES,
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default_applicable_licenses = [":license"],
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default_visibility = ["__subpackages__"],
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features = [
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"layering_check",
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"parse_headers",
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],
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)
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license(
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licenses(["notice"])
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32-
exports_files(["LICENSE"])
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gz_configure_header(
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name = "config",
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src = "include/gz/math/config.hh.in",
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cmakelists = ["CMakeLists.txt"],
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package = "math",
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)
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exports_files([
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"LICENSE",
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"MODULE.bazel",
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])
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gz_export_header(
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name = "include/gz/math/Export.hh",
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name = "Export",
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out = "include/gz/math/Export.hh",
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export_base = "GZ_MATH",
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lib_name = "gz-math",
45-
visibility = ["//visibility:private"],
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)
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48-
public_headers_no_gen = glob([
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"include/gz/math/*.hh",
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"include/gz/math/detail/*.hh",
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"include/gz/math/graph/*.hh",
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])
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private_headers = glob(["src/*.hh"])
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gz_configure_header(
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name = "Config",
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src = "include/gz/math/config.hh.in",
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package_xml = "package.xml",
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)
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56-
sources = glob(
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["src/*.cc"],
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exclude = ["src/*_TEST.cc"],
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public_headers_no_gen = glob(
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include = [
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"include/gz/math/*.hh",
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"include/gz/math/detail/*.hh",
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"include/gz/math/graph/*.hh",
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],
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)
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gz_include_header(
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name = "mathhh_genrule",
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name = "Include",
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out = "include/gz/math.hh",
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hdrs = public_headers_no_gen + [
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"include/gz/math/config.hh",
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"include/gz/math/Export.hh",
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],
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hdrs = public_headers_no_gen + ["include/gz/math/config.hh"],
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)
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public_headers = public_headers_no_gen + [
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"include/gz/math/config.hh",
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"include/gz/math/Export.hh",
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"include/gz/math.hh",
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"include/gz/math/Export.hh",
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"include/gz/math/config.hh",
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]
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private_headers = glob(
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include = [
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"src/*.hh",
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],
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)
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sources = glob(
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include = [
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"src/*.cc",
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],
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exclude = [
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"src/*_TEST.cc",
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],
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)
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cc_library(
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name = "math",
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name = "gz-math",
7878
srcs = sources + private_headers,
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hdrs = public_headers,
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includes = ["include"],
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includes = [
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"include",
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],
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visibility = ["//visibility:public"],
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deps = [
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GZ_ROOT + "utils",
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"@gz-utils//:ImplPtr",
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"@gz-utils//:NeverDestroyed",
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"@gz-utils//:SuppressWarning",
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],
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)
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pybind_extension(
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name = "gz/math8",
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srcs = glob(
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include = [
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"src/python_pybind11/src/*.cc",
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"src/python_pybind11/src/*.hh",
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],
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),
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defines = [
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"BINDINGS_MODULE_NAME=math8",
101+
],
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linkstatic = True,
103+
visibility = ["//visibility:private"],
104+
deps = [":gz-math"],
105+
)
106+
107+
py_library(
108+
name = "python",
109+
data = [":gz/math8"],
110+
visibility = ["//visibility:public"],
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)
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test_sources = glob(
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[
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include = [
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"src/*_TEST.cc",
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"src/graph/*_TEST.cc",
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],
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)
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93-
[cc_test(
94-
name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
95-
srcs = [src],
96-
deps = [
97-
":math",
98-
"@gtest",
99-
"@gtest//:gtest_main",
120+
[
121+
cc_test(
122+
name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
123+
srcs = [src],
124+
deps = [
125+
":gz-math",
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"@googletest//:gtest",
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"@googletest//:gtest_main",
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"@gz-utils//:SuppressWarning",
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],
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)
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for src in test_sources
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]
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py_test_sources = glob(
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include = [
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"src/python_pybind11/test/*_TEST.py",
100137
],
101-
) for src in test_sources]
138+
)
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103-
add_lint_tests()
140+
[
141+
py_test(
142+
name = src.replace("/", "_").replace(".py", "_py").replace("src_python_pybind11_test_", ""),
143+
srcs = [src],
144+
main = src,
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deps = [":python"],
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)
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for src in py_test_sources
148+
]

‎CMakeLists.txt‎

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#============================================================================
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# Initialize the project
55
#============================================================================
6-
project(gz-math8 VERSION 8.0.0)
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project(gz-math8 VERSION 8.2.0)
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#============================================================================
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# Find gz-cmake
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1818
set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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gz_configure_project(VERSION_SUFFIX pre1)
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gz_configure_project(VERSION_SUFFIX)
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#============================================================================
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# Set project-specific options
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COMPONENTS Interpreter
104104
OPTIONAL_COMPONENTS Development
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)
106-
if (NOT Python3_Development_FOUND)
107-
GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
108-
else()
109-
set(PYBIND11_PYTHON_VERSION 3)
110-
find_package(pybind11 2.2 QUIET)
111-
112-
if (${pybind11_FOUND})
113-
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
114-
else()
115-
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
116-
message (STATUS "Searching for pybind11 - not found.")
117-
endif()
118-
endif()
119106
endif()
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121108
# Location of "fake install folder" used in tests

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