version 1.5

Author: Tobias Löw

.gitlab-ci.yml

@@ -1,6 +1,4 @@
 default:
-  tags:
-    - gitlab-org-docker
   image: docker:24.0.5
   services:
     - docker:24.0.5-dind
@@ -14,10 +12,21 @@ stages:
 variables:
   IMAGES_PREFIX: $CI_REGISTRY_IMAGE/env_
   DOCKERFILE: ".github/docker/Dockerfile"
+  RUNNER_TAG: "gitlab-org-docker"
+
+
+workflow:
+  rules:
+    - if: $CI_SERVER_HOST == "gitlab.idiap.ch"
+      variables:
+        RUNNER_TAG: "docker"
+    - when: always  
 
 
 build-docker-images-gcc:
   stage: docker-images
+  tags:
+    - $RUNNER_TAG
   variables:
     COMPILER: "gcc"
   script:
@@ -35,6 +44,8 @@ build-docker-images-gcc:
 
 build-docker-images-clang:
   stage: docker-images
+  tags:
+    - $RUNNER_TAG
   variables:
     COMPILER: "clang"
   script:
@@ -52,6 +63,8 @@ build-docker-images-clang:
 
 build-gafro:
   stage: build
+  tags:
+    - $RUNNER_TAG
   image:
     name: ${IMAGES_PREFIX}${COMPILER}:${COMPILER_VERSION}
   script:

CMakeLists.txt

@@ -8,22 +8,17 @@ endif()
 project(gafro)
 
 set(${PROJECT_NAME}_VERSION_MAJOR 1)
-set(${PROJECT_NAME}_VERSION_MINOR 0)
+set(${PROJECT_NAME}_VERSION_MINOR 5)
 set(${PROJECT_NAME}_VERSION_PATCH 0)
 
 set(${PROJECT_NAME}_VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}")
 
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
-
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
-
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
-set(GAFRO_PREFIX_PACKAGE share/${CMAKE_PROJECT_NAME}/cmake)
+set(GAFRO_PREFIX_PACKAGE share/${PROJECT_NAME}/cmake)
 set(GAFRO_PREFIX_INCLUDE include/gafro)
 
 find_package(Eigen3 3.4 REQUIRED)
@@ -33,36 +28,51 @@ add_subdirectory(src/${PROJECT_NAME}_control)
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
     add_subdirectory(tests)
-
-    export(EXPORT ${CMAKE_PROJECT_NAME}-config-targets
-        FILE "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-config-targets.cmake"
-        NAMESPACE gafro::
-    )
-
-    install(EXPORT ${CMAKE_PROJECT_NAME}-config-targets
-        FILE ${CMAKE_PROJECT_NAME}-config-targets.cmake
-        NAMESPACE gafro::
-        DESTINATION ${GAFRO_PREFIX_PACKAGE}
-    )
-
-    include(CMakePackageConfigHelpers)
-    write_basic_package_version_file(
-        "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-config-version.cmake"
-        VERSION ${${PROJECT_NAME}_VERSION}
-        COMPATIBILITY AnyNewerVersion
-    )
-
-    configure_file(cmake/${CMAKE_PROJECT_NAME}-config.cmake "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-config.cmake" COPYONLY)
-    configure_file(cmake/${CMAKE_PROJECT_NAME}-packages.cmake "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-packages.cmake")
-
-    install(
-        FILES
-            "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-config.cmake"
-            "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-config-version.cmake"
-            "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}-packages.cmake"
-        DESTINATION
-            ${GAFRO_PREFIX_PACKAGE}
-        COMPONENT
-            Devel
-    )
 endif()
+
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+    cmake/gafro-config.cmake
+    "${PROJECT_BINARY_DIR}/gafro-config.cmake"
+    INSTALL_DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/"
+)
+
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+    VERSION ${${PROJECT_NAME}_VERSION}
+    COMPATIBILITY AnyNewerVersion
+)
+
+configure_file(cmake/${PROJECT_NAME}-packages.cmake "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-packages.cmake")
+
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}-config-targets
+    LIBRARY DESTINATION lib/${PROJECT_NAME}/
+    ARCHIVE DESTINATION lib/${PROJECT_NAME}/
+    RUNTIME DESTINATION lib/${PROJECT_NAME}/
+    INCLUDES DESTINATION ${GAFRO_PREFIX_INCLUDE}/
+)
+
+install(
+    FILES
+        "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+        "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+        "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-packages.cmake"
+    DESTINATION
+        ${GAFRO_PREFIX_PACKAGE}
+    COMPONENT
+        Devel
+)
+
+install(EXPORT ${PROJECT_NAME}-config-targets
+    FILE ${PROJECT_NAME}-config-targets.cmake
+    NAMESPACE gafro::
+    DESTINATION ${GAFRO_PREFIX_PACKAGE}
+)
+
+export(EXPORT ${PROJECT_NAME}-config-targets
+    FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-targets.cmake"
+    NAMESPACE gafro::
+)
+
+export(PACKAGE gafro)

cmake/gafro-config.cmake

@@ -1,59 +1,12 @@
-include("${CMAKE_CURRENT_LIST_DIR}/gafro-packages.cmake")
-include("${CMAKE_CURRENT_LIST_DIR}/gafro-config-targets.cmake")
+@PACKAGE_INIT@
 
-function(register_target TARGET INCLUDES_VAR LIBRARIES_VAR)
-  if(TARGET ${TARGET})
-    # Resolve include directories
-    get_target_property(TARGET_INCLUDE_DIRS ${TARGET} INTERFACE_INCLUDE_DIRECTORIES)
-    set(TARGET_INCLUDE_DIRS "${TARGET_INCLUDE_DIRS}" CACHE PATH "${TARGET} include directories")
+get_filename_component(gafro_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 
-    # Append to existing include directories
-    list(APPEND ${INCLUDES_VAR} ${TARGET_INCLUDE_DIRS})
-    list(REMOVE_DUPLICATES ${INCLUDES_VAR})
-    # Propagate to caller
-    set(${INCLUDES_VAR} ${${INCLUDES_VAR}} PARENT_SCOPE)
+if(NOT TARGET gafro::gafro)
+    include("${gafro_CMAKE_DIR}/gafro-config-targets.cmake")
+    include("${gafro_CMAKE_DIR}/gafro-packages.cmake")
+endif()
 
-    # Resolve release and debug libraries.
-    get_target_property(TARGET_LIBRARY_DEBUG ${TARGET} IMPORTED_LOCATION_DEBUG)
-    get_target_property(TARGET_LIBRARY_RELEASE ${TARGET} IMPORTED_LOCATION_RELEASE)
+get_target_property(gafro_INCLUDE_DIRS gafro::gafro INTERFACE_INCLUDE_DIRECTORIES)
 
-    # For non-Windows, substitude RelWithDebInfo for release library. Can't for Windows as it
-    # links the debug runtime so is more optimised debug than release with debug info.
-    if(NOT WIN32 AND NOT TARGET_LIBRARY_RELEASE)
-      get_target_property(TARGET_LIBRARY_RELEASE ${TARGET} IMPORTED_LOCATION_REL_WITH_DEB_INFO)
-    endif(NOT WIN32 AND NOT TARGET_LIBRARY_RELEASE)
-
-    # Try with no config specified.
-    if(NOT TARGET_LIBRARY_RELEASE)
-      get_target_property(TARGET_LIBRARY_RELEASE ${TARGET} IMPORTED_LOCATION)
-
-      if(NOT TARGET_LIBRARY_RELEASE)
-        get_target_property(TARGET_LIBRARY_RELEASE ${TARGET} IMPORTED_LOCATION_NOCONFIG)
-      endif(NOT TARGET_LIBRARY_RELEASE)
-    endif(NOT TARGET_LIBRARY_RELEASE)
-
-    # Get any supporting libraries for the target.
-    get_target_property(TARGET_SUPPORT_LIBRARIES ${TARGET} INTERFACE_LINK_LIBRARIES)
-
-    # Extent the library list.
-    set(TARGET_LIBRARIES)
-    if(TARGET_LIBRARY_DEBUG)
-      list(APPEND TARGET_LIBRARIES debug "${TARGET_LIBRARY_DEBUG}" optimized "${TARGET_LIBRARY_RELEASE}")
-    else(TARGET_LIBRARY_DEBUG)
-
-      set(TARGET_LIBRARIES "${TARGET_LIBRARY_RELEASE}")
-    endif(TARGET_LIBRARY_DEBUG)
-
-    list(APPEND ${LIBRARIES_VAR} ${TARGET_LIBRARIES})
-    if(TARGET_SUPPORT_LIBRARIES)
-      list(APPEND ${LIBRARIES_VAR} ${TARGET_SUPPORT_LIBRARIES})
-    endif(TARGET_SUPPORT_LIBRARIES)
-
-    # Export to caller.
-    set(${LIBRARIES_VAR} ${${LIBRARIES_VAR}} PARENT_SCOPE)
-
-  endif(TARGET ${TARGET})
-endfunction(register_target)
-
-register_target(gafro::gafro gafro_INCLUDE_DIRS gafro_LIBRARIES)
-register_target(gafro::gafro_control gafro_control_INCLUDE_DIRS gafro_control_LIBRARIES)
+check_required_components(gafro)

cmake/gafro-packages.cmake

@@ -1,2 +1,2 @@
 find_package(Eigen3 3.4 REQUIRED)
-find_package(orwell)
+find_package(orwell QUIET)

package.xml

@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gafro</name>
-  <version>1.0.0</version>
+  <version>1.5.0</version>
   <description>The gafro package</description>
 
-  <maintainer email="tobias.loew@idiap.ch">Tobias Löw</maintainer>
-  <author email="tobias.loew@idiap.ch">Tobias Löw</author>
+  <maintainer email="tobias.loew@gafro.ch">Tobias Löw</maintainer>
+  <author email="tobias.loew@gafro.ch">Tobias Löw</author>
 
   <license>GPLv3</license>
 
+  <build_depend>orwell</build_depend>
+  <build_depend>sackmesser</build_depend>
+
   <export>
     <build_type>cmake</build_type>
   </export>

src/gafro/CMakeLists.txt

@@ -1,51 +1,50 @@
 configure_file(${CMAKE_CURRENT_LIST_DIR}/gafro_package_config.h.in "${CMAKE_CURRENT_BINARY_DIR}/gafro_package_config.hpp")
 
-add_library(${PROJECT_NAME})
-
+add_library(gafro INTERFACE)
+add_library(gafro::gafro ALIAS gafro)
 
 include(CheckCXXCompilerFlag)
 check_cxx_compiler_flag("-march=native" MARCH_NATIVE_SUPPORTED)
 check_cxx_compiler_flag("-msse4" MSSE2_SUPPORTED)
 
 if (MARCH_NATIVE_SUPPORTED)
-    target_compile_options(${PROJECT_NAME} PUBLIC "-march=native")
+    target_compile_options(${PROJECT_NAME} INTERFACE "-march=native")
 endif()
 
 if (MSSE2_SUPPORTED)
-    target_compile_options(${PROJECT_NAME} PUBLIC "-msse4")
+    target_compile_options(${PROJECT_NAME} INTERFACE "-msse4")
 endif()
 
 
-target_compile_options(${PROJECT_NAME} PUBLIC "-O3")
-target_compile_options(${PROJECT_NAME} PUBLIC "-Wall")
-target_compile_options(${PROJECT_NAME} PUBLIC "-Wpedantic")
-# target_compile_options(${PROJECT_NAME} PUBLIC "-Werror")
-target_compile_options(${PROJECT_NAME} PUBLIC "-fno-builtin")
+target_compile_options(${PROJECT_NAME} INTERFACE "-O3")
+target_compile_options(${PROJECT_NAME} INTERFACE "-Wall")
+target_compile_options(${PROJECT_NAME} INTERFACE "-Wpedantic")
+# target_compile_options(${PROJECT_NAME} INTERFACE "-Werror")
+target_compile_options(${PROJECT_NAME} INTERFACE "-fno-builtin")
+
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_20)
 
 add_subdirectory(algebra)
 add_subdirectory(physics)
 add_subdirectory(robot)
 add_subdirectory(optimization)
 
-include(GenerateExportHeader)
-generate_export_header(${PROJECT_NAME})
+# include(GenerateExportHeader)
+# generate_export_header(${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
-  VERSION ${${PROJECT_NAME}_VERSION}
-  SOVERSION 1
-  INTERFACE_GAFRO_MAJOR_VERSION 1
+  INTERFACE_VERSION ${${PROJECT_NAME}_VERSION}
 )
 
 target_include_directories(${PROJECT_NAME}
-    PUBLIC
+    INTERFACE
         $<INSTALL_INTERFACE:${${PROJECT_NAME}_PREFIX_INCLUDE}>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>/..
         $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
 
         $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIRS}>
         $<INSTALL_INTERFACE:${EIGEN3_INCLUDE_DIRS}>
 
-    PRIVATE
         $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}>/..
 )
 
@@ -54,20 +53,13 @@ target_include_directories(${PROJECT_NAME}
 )
 
 target_link_libraries(${PROJECT_NAME}
-    PUBLIC
+    INTERFACE
         $<BUILD_INTERFACE:${EIGEN3_LIBRARIES}>
         $<INSTALL_INTERFACE:${EIGEN3_LIBRARIES}>
-    PRIVATE
 )
 
 # Only do that when using the gafro source code directly, not from a submodule
-if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
-    install(TARGETS ${PROJECT_NAME} EXPORT ${CMAKE_PROJECT_NAME}-config-targets
-        LIBRARY DESTINATION lib/${PROJECT_NAME}/
-        ARCHIVE DESTINATION lib/${PROJECT_NAME}/
-        RUNTIME DESTINATION lib/${PROJECT_NAME}/
-        INCLUDES DESTINATION ${GAFRO_PREFIX_INCLUDE}/
-    )
+# if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
 
     install(
         FILES
@@ -82,4 +74,4 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
         COMPONENT
             Devel
     )
-endif()
+# endif()

src/gafro/algebra.hpp

@@ -27,6 +27,7 @@
 #include <gafro/algebra/AbstractExpression.hxx>
 #include <gafro/algebra/CommutatorProduct.hpp>
 #include <gafro/algebra/GeometricProduct.hpp>
+#include <gafro/algebra/Grade.hpp>
 #include <gafro/algebra/InnerProduct.hpp>
 #include <gafro/algebra/OuterProduct.hpp>
 #include <gafro/algebra/Reflection.hpp>
@@ -44,11 +45,16 @@
 #include <gafro/algebra/cga/Point.hxx>
 #include <gafro/algebra/cga/PointPair.hxx>
 #include <gafro/algebra/cga/Sphere.hxx>
+#include <gafro/algebra/cga/TangentVector.hxx>
 #include <gafro/algebra/cga/Vector.hxx>
 //
+#include <gafro/algebra/cga/ConformalTransformation.hpp>
+#include <gafro/algebra/cga/Dilator.hpp>
 #include <gafro/algebra/cga/Motor.hxx>
 #include <gafro/algebra/cga/MotorGenerator.hxx>
 #include <gafro/algebra/cga/Rotor.hxx>
 #include <gafro/algebra/cga/RotorGenerator.hxx>
+#include <gafro/algebra/cga/SimilarityTransformation.hpp>
 #include <gafro/algebra/cga/Translator.hxx>
-#include <gafro/algebra/cga/TranslatorGenerator.hxx>
+#include <gafro/algebra/cga/TranslatorGenerator.hxx>
+#include <gafro/algebra/cga/Transversion.hpp>

src/gafro/algebra/Algebra.hpp

@@ -63,6 +63,14 @@ namespace gafro
         template <class T, int... index>
         class Multivector;
 
+      private:
+        template <class T, int grade>
+        class GradeConstructor;
+
+      public:
+        template <class T, int grade>
+        using Grade = typename GradeConstructor<T, grade>::Type;
+
         constexpr static int dim = math::pow2<M::dim>();
 
         class BladeBitmap