add new package mola_navstate_fuse

mola_imu_preintegration/README.md

@@ -3,7 +3,6 @@ Integrator of IMU angular velocity readings.
 
 This repository provides:
 * `IMUIntegrator` and `RotationIntegrator`: C++ classes to integrate IMU accelerations and angular velocities.
-* `IMUIntegrationPublisher`: A MOLA module to process CObservationIMU readings and emit relative pose updates with respect to the last keyframe.
 
 ## Build and install
 Refer to the [root MOLA repository](https://github.com/MOLAorg/mola).

mola_imu_preintegration/src/RotationIntegrator.cpp

@@ -27,8 +27,6 @@
 #include <mola_imu_preintegration/RotationIntegrator.h>
 #include <mrpt/poses/Lie/SO.h>
 
-#include <iostream>  // REMOVE!
-
 using namespace mola;
 
 void RotationIntegrator::initialize(const mrpt::containers::yaml& cfg)

mola_imu_preintegration/tests/CMakeLists.txt

@@ -3,5 +3,5 @@ mola_add_test(
   TARGET  test-imu-rotation-integrator
   SOURCES test-imu-rotation-integrator.cpp
   LINK_LIBRARIES
-    mola_imu_preintegration
+    mola::mola_imu_preintegration
 )

mola_navstate_fuse/.clang-format

@@ -0,0 +1,83 @@
+Language:        Cpp
+BasedOnStyle: Google
+# ---
+#AccessModifierOffset: -4
+AlignAfterOpenBracket: AlwaysBreak # Values: Align, DontAlign, AlwaysBreak
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+#AlignEscapedNewlinesLeft: true
+#AlignOperands:   false
+AlignTrailingComments: false # Should be off, causes many dummy problems!!
+#AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: true
+#AllowShortCaseLabelsOnASingleLine: false
+#AllowShortFunctionsOnASingleLine: Empty
+#AllowShortIfStatementsOnASingleLine: false
+#AllowShortLoopsOnASingleLine: false
+#AlwaysBreakAfterDefinitionReturnType: None
+#AlwaysBreakAfterReturnType: None
+#AlwaysBreakBeforeMultilineStrings: true
+#AlwaysBreakTemplateDeclarations: true
+#BinPackArguments: false
+#BinPackParameters: false
+#BraceWrapping:
+  #AfterClass:      false
+  #AfterControlStatement: false
+  #AfterEnum:       false
+  #AfterFunction:   false
+  #AfterNamespace:  false
+  #AfterObjCDeclaration: false
+  #AfterStruct:     false
+  #AfterUnion:      false
+  #BeforeCatch:     false
+  #BeforeElse:      true
+  #IndentBraces:    false
+#BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Allman
+#BreakBeforeTernaryOperators: true
+#BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 80
+#CommentPragmas:  ''
+#ConstructorInitializerAllOnOneLineOrOnePerLine: true
+#ConstructorInitializerIndentWidth: 4
+#ContinuationIndentWidth: 4
+#Cpp11BracedListStyle: true
+#DerivePointerAlignment: false
+#DisableFormat:   false
+#ExperimentalAutoDetectBinPacking: false
+##FixNamespaceComments: true # Not applicable in 3.8
+#ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+#IncludeCategories:
+  #- Regex:           '.*'
+    #Priority:        1
+IndentCaseLabels: true
+IndentWidth:     4
+IndentWrappedFunctionNames: true
+#KeepEmptyLinesAtTheStartOfBlocks: true
+#MacroBlockBegin: ''
+#MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+#PenaltyBreakBeforeFirstCallParameter: 19
+#PenaltyBreakComment: 300
+#PenaltyBreakFirstLessLess: 120
+#PenaltyBreakString: 1000
+#PenaltyExcessCharacter: 1000000
+#PenaltyReturnTypeOnItsOwnLine: 200
+DerivePointerAlignment: false
+#PointerAlignment: Left
+ReflowComments:  true # Should be true, otherwise clang-format doesn't touch comments
+SortIncludes:    true
+#SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+#SpaceBeforeParens: ControlStatements
+#SpaceInEmptyParentheses: false
+#SpacesBeforeTrailingComments: 2
+#SpacesInAngles:  false
+#SpacesInContainerLiterals: true
+#SpacesInCStyleCastParentheses: false
+#SpacesInParentheses: false
+#SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never # Available options are Never, Always, ForIndentation

mola_navstate_fuse/CHANGELOG.rst

@@ -0,0 +1,18 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_imu_preintegration
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.2 (2023-09-08)
+------------------
+* Update copyright year
+* Correct references to license
+* Ported to ROS2 colcon build system
+* Delete WIP files.
+* first unit tests
+* progress, unit tests
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.1 (2021-09-18)
+------------------
+* Initial commit
+* Contributors: Jose Luis Blanco-Claraco

mola_navstate_fuse/CMakeLists.txt

@@ -0,0 +1,46 @@
+# ------------------------------------------------------------------------------
+#        A Modular Optimization framework for Localization and mApping
+#                               (MOLA)
+#
+# Copyright (C) 2018-2024, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
+# All rights reserved.
+# Released under GNU GPL v3. See LICENSE file
+# ------------------------------------------------------------------------------
+
+# Minimum CMake vesion: limited by CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
+cmake_minimum_required(VERSION 3.4)
+
+# Tell CMake we'll use C++ for use in its tests/flags
+project(mola_navstate_fuse LANGUAGES CXX)
+
+# MOLA CMake scripts: "mola_xxx()"
+find_package(mola_common REQUIRED)
+
+# find CMake dependencies:
+find_package(mrpt-obs)
+
+# Find MOLA packages:
+find_package(mola_imu_preintegration REQUIRED)
+
+# -----------------------
+# define lib:
+file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
+file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+
+mola_add_library(
+	TARGET ${PROJECT_NAME}
+	SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
+	PUBLIC_LINK_LIBRARIES
+		mrpt::obs
+		mola::mola_imu_preintegration
+	#PRIVATE_LINK_LIBRARIES
+	#	mrpt::obs
+	CMAKE_DEPENDENCIES
+		mola_common
+		mola_imu_preintegration
+)
+
+# -----------------------
+# define tests:
+enable_testing()
+add_subdirectory(tests)