From 85ee4b08310a5c3f5d01c1bc920db658f73286f7 Mon Sep 17 00:00:00 2001 From: RossHartley Date: Wed, 26 Sep 2018 17:07:09 -0400 Subject: [PATCH] fixed cmake file so that it does not need to be run twice --- CMakeLists.txt | 16 +++++----------- .../examples_matlab}/GenIMUFromTraj.m | 0 .../examples_matlab}/GenTrajFromIMU.m | 0 .../examples_matlab/InEKF}/RIEKF.m | 0 .../examples_matlab/InEKF}/RIEKF_InitFcn.m | 0 .../examples_matlab/InEKF}/RIEKF_test.slx | Bin .../InEKF}/RIEKF_test.slx.autosave | Bin .../examples_matlab/InEKF}/Rotation_to_Euler.m | 0 .../examples_matlab/InEKF}/plot_results.m | 0 .../data/ground_truth/orientation.mat | Bin .../data/ground_truth/position.mat | Bin .../data/ground_truth/velocity.mat | Bin .../data/measurements/X_init.mat | Bin .../data/measurements/angular_velocity.mat | Bin .../data/measurements/contact.mat | Bin .../data/measurements/encoders.mat | Bin .../data/measurements/linear_acceleration.mat | Bin .../linux/J_VectorNav_to_LeftToeBottom.mexa64 | Bin .../linux/J_VectorNav_to_RightToeBottom.mexa64 | Bin .../linux/R_VectorNav_to_LeftToeBottom.mexa64 | Bin .../linux/R_VectorNav_to_RightToeBottom.mexa64 | Bin .../linux/p_VectorNav_to_LeftToeBottom.mexa64 | Bin .../linux/p_VectorNav_to_RightToeBottom.mexa64 | Bin .../windows/J_VectorNav_to_LeftToeBottom.mexw64 | Bin .../J_VectorNav_to_RightToeBottom.mexw64 | Bin .../windows/R_VectorNav_to_LeftToeBottom.mexw64 | Bin .../R_VectorNav_to_RightToeBottom.mexw64 | Bin .../windows/p_VectorNav_to_LeftToeBottom.mexw64 | Bin .../p_VectorNav_to_RightToeBottom.mexw64 | Bin .../examples_matlab}/gen_data_file.m | 0 .../imu_kinematic_measurements.txt | 0 .../imu_landmark_measurements.txt | 0 .../examples_matlab}/run_RIEKF_test.m | 2 +- 33 files changed, 6 insertions(+), 12 deletions(-) rename {matlab_example => src/examples_matlab}/GenIMUFromTraj.m (100%) rename {matlab_example => src/examples_matlab}/GenTrajFromIMU.m (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/RIEKF.m (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/RIEKF_InitFcn.m (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/RIEKF_test.slx (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/RIEKF_test.slx.autosave (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/Rotation_to_Euler.m (100%) rename {matlab_example/example_code => src/examples_matlab/InEKF}/plot_results.m (100%) rename {matlab_example => src/examples_matlab}/data/ground_truth/orientation.mat (100%) rename {matlab_example => src/examples_matlab}/data/ground_truth/position.mat (100%) rename {matlab_example => src/examples_matlab}/data/ground_truth/velocity.mat (100%) rename {matlab_example => src/examples_matlab}/data/measurements/X_init.mat (100%) rename {matlab_example => src/examples_matlab}/data/measurements/angular_velocity.mat (100%) rename {matlab_example => src/examples_matlab}/data/measurements/contact.mat (100%) rename {matlab_example => src/examples_matlab}/data/measurements/encoders.mat (100%) rename {matlab_example => src/examples_matlab}/data/measurements/linear_acceleration.mat (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/J_VectorNav_to_LeftToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/J_VectorNav_to_RightToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/R_VectorNav_to_LeftToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/R_VectorNav_to_RightToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/p_VectorNav_to_LeftToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/linux/p_VectorNav_to_RightToeBottom.mexa64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/J_VectorNav_to_LeftToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/J_VectorNav_to_RightToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/R_VectorNav_to_LeftToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/R_VectorNav_to_RightToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/p_VectorNav_to_LeftToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/forward_kinematics/windows/p_VectorNav_to_RightToeBottom.mexw64 (100%) rename {matlab_example => src/examples_matlab}/gen_data_file.m (100%) rename {matlab_example => src/examples_matlab}/imu_kinematic_measurements.txt (100%) rename {matlab_example => src/examples_matlab}/imu_landmark_measurements.txt (100%) rename {matlab_example => src/examples_matlab}/run_RIEKF_test.m (85%) diff --git a/CMakeLists.txt b/CMakeLists.txt index c5c0a54..a7f6ac9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,20 +1,14 @@ # Specify the minimum version for CMake cmake_minimum_required(VERSION 2.8.3) -# set(CMAKE_CXX_STANDARD 11) -#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g") # Debugging -#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") +# Project's name +project(inekf) + +# Set compiler flags set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -DEIGEN_NO_DEBUG -march=native -Wl,--no-as-needed") SET(CMAKE_CXX_COMPILER /usr/bin/g++) -# -O3 -DEIGEN_NO_DEBUG sped up large matrix multiplication by a factor of 10 -# -march=native further sped up large matrix multiplication by a factor of 2 -# Project's name -project(inekf) -# Set the output folder where your program will be created -#set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin) -#set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}) -#set(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/lib) +# Set the output folder where your program will be created set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib) diff --git a/matlab_example/GenIMUFromTraj.m b/src/examples_matlab/GenIMUFromTraj.m similarity index 100% rename from matlab_example/GenIMUFromTraj.m rename to src/examples_matlab/GenIMUFromTraj.m diff --git a/matlab_example/GenTrajFromIMU.m b/src/examples_matlab/GenTrajFromIMU.m similarity index 100% rename from matlab_example/GenTrajFromIMU.m rename to src/examples_matlab/GenTrajFromIMU.m diff --git a/matlab_example/example_code/RIEKF.m b/src/examples_matlab/InEKF/RIEKF.m similarity index 100% rename from matlab_example/example_code/RIEKF.m rename to src/examples_matlab/InEKF/RIEKF.m diff --git a/matlab_example/example_code/RIEKF_InitFcn.m b/src/examples_matlab/InEKF/RIEKF_InitFcn.m similarity index 100% rename from matlab_example/example_code/RIEKF_InitFcn.m rename to src/examples_matlab/InEKF/RIEKF_InitFcn.m diff --git a/matlab_example/example_code/RIEKF_test.slx b/src/examples_matlab/InEKF/RIEKF_test.slx similarity index 100% rename from matlab_example/example_code/RIEKF_test.slx rename to src/examples_matlab/InEKF/RIEKF_test.slx diff --git a/matlab_example/example_code/RIEKF_test.slx.autosave b/src/examples_matlab/InEKF/RIEKF_test.slx.autosave similarity index 100% rename from matlab_example/example_code/RIEKF_test.slx.autosave rename to src/examples_matlab/InEKF/RIEKF_test.slx.autosave diff --git a/matlab_example/example_code/Rotation_to_Euler.m b/src/examples_matlab/InEKF/Rotation_to_Euler.m similarity index 100% rename from matlab_example/example_code/Rotation_to_Euler.m rename to src/examples_matlab/InEKF/Rotation_to_Euler.m diff --git a/matlab_example/example_code/plot_results.m b/src/examples_matlab/InEKF/plot_results.m similarity index 100% rename from matlab_example/example_code/plot_results.m rename to src/examples_matlab/InEKF/plot_results.m diff --git a/matlab_example/data/ground_truth/orientation.mat b/src/examples_matlab/data/ground_truth/orientation.mat similarity index 100% rename from matlab_example/data/ground_truth/orientation.mat rename to src/examples_matlab/data/ground_truth/orientation.mat diff --git a/matlab_example/data/ground_truth/position.mat b/src/examples_matlab/data/ground_truth/position.mat similarity index 100% rename from matlab_example/data/ground_truth/position.mat rename to src/examples_matlab/data/ground_truth/position.mat diff --git a/matlab_example/data/ground_truth/velocity.mat b/src/examples_matlab/data/ground_truth/velocity.mat similarity index 100% rename from matlab_example/data/ground_truth/velocity.mat rename to src/examples_matlab/data/ground_truth/velocity.mat diff --git a/matlab_example/data/measurements/X_init.mat b/src/examples_matlab/data/measurements/X_init.mat similarity index 100% rename from matlab_example/data/measurements/X_init.mat rename to src/examples_matlab/data/measurements/X_init.mat diff --git a/matlab_example/data/measurements/angular_velocity.mat b/src/examples_matlab/data/measurements/angular_velocity.mat similarity index 100% rename from matlab_example/data/measurements/angular_velocity.mat rename to src/examples_matlab/data/measurements/angular_velocity.mat diff --git a/matlab_example/data/measurements/contact.mat b/src/examples_matlab/data/measurements/contact.mat similarity index 100% rename from matlab_example/data/measurements/contact.mat rename to src/examples_matlab/data/measurements/contact.mat diff --git a/matlab_example/data/measurements/encoders.mat b/src/examples_matlab/data/measurements/encoders.mat similarity index 100% rename from matlab_example/data/measurements/encoders.mat rename to src/examples_matlab/data/measurements/encoders.mat diff --git a/matlab_example/data/measurements/linear_acceleration.mat b/src/examples_matlab/data/measurements/linear_acceleration.mat similarity index 100% rename from matlab_example/data/measurements/linear_acceleration.mat rename to src/examples_matlab/data/measurements/linear_acceleration.mat diff --git a/matlab_example/forward_kinematics/linux/J_VectorNav_to_LeftToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/J_VectorNav_to_LeftToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/J_VectorNav_to_LeftToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/J_VectorNav_to_LeftToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/linux/J_VectorNav_to_RightToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/J_VectorNav_to_RightToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/J_VectorNav_to_RightToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/J_VectorNav_to_RightToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/linux/R_VectorNav_to_LeftToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/R_VectorNav_to_LeftToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/R_VectorNav_to_LeftToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/R_VectorNav_to_LeftToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/linux/R_VectorNav_to_RightToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/R_VectorNav_to_RightToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/R_VectorNav_to_RightToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/R_VectorNav_to_RightToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/linux/p_VectorNav_to_LeftToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/p_VectorNav_to_LeftToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/p_VectorNav_to_LeftToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/p_VectorNav_to_LeftToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/linux/p_VectorNav_to_RightToeBottom.mexa64 b/src/examples_matlab/forward_kinematics/linux/p_VectorNav_to_RightToeBottom.mexa64 similarity index 100% rename from matlab_example/forward_kinematics/linux/p_VectorNav_to_RightToeBottom.mexa64 rename to src/examples_matlab/forward_kinematics/linux/p_VectorNav_to_RightToeBottom.mexa64 diff --git a/matlab_example/forward_kinematics/windows/J_VectorNav_to_LeftToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/J_VectorNav_to_LeftToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/J_VectorNav_to_LeftToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/J_VectorNav_to_LeftToeBottom.mexw64 diff --git a/matlab_example/forward_kinematics/windows/J_VectorNav_to_RightToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/J_VectorNav_to_RightToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/J_VectorNav_to_RightToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/J_VectorNav_to_RightToeBottom.mexw64 diff --git a/matlab_example/forward_kinematics/windows/R_VectorNav_to_LeftToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/R_VectorNav_to_LeftToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/R_VectorNav_to_LeftToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/R_VectorNav_to_LeftToeBottom.mexw64 diff --git a/matlab_example/forward_kinematics/windows/R_VectorNav_to_RightToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/R_VectorNav_to_RightToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/R_VectorNav_to_RightToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/R_VectorNav_to_RightToeBottom.mexw64 diff --git a/matlab_example/forward_kinematics/windows/p_VectorNav_to_LeftToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/p_VectorNav_to_LeftToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/p_VectorNav_to_LeftToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/p_VectorNav_to_LeftToeBottom.mexw64 diff --git a/matlab_example/forward_kinematics/windows/p_VectorNav_to_RightToeBottom.mexw64 b/src/examples_matlab/forward_kinematics/windows/p_VectorNav_to_RightToeBottom.mexw64 similarity index 100% rename from matlab_example/forward_kinematics/windows/p_VectorNav_to_RightToeBottom.mexw64 rename to src/examples_matlab/forward_kinematics/windows/p_VectorNav_to_RightToeBottom.mexw64 diff --git a/matlab_example/gen_data_file.m b/src/examples_matlab/gen_data_file.m similarity index 100% rename from matlab_example/gen_data_file.m rename to src/examples_matlab/gen_data_file.m diff --git a/matlab_example/imu_kinematic_measurements.txt b/src/examples_matlab/imu_kinematic_measurements.txt similarity index 100% rename from matlab_example/imu_kinematic_measurements.txt rename to src/examples_matlab/imu_kinematic_measurements.txt diff --git a/matlab_example/imu_landmark_measurements.txt b/src/examples_matlab/imu_landmark_measurements.txt similarity index 100% rename from matlab_example/imu_landmark_measurements.txt rename to src/examples_matlab/imu_landmark_measurements.txt diff --git a/matlab_example/run_RIEKF_test.m b/src/examples_matlab/run_RIEKF_test.m similarity index 85% rename from matlab_example/run_RIEKF_test.m rename to src/examples_matlab/run_RIEKF_test.m index 7e8519a..252f648 100644 --- a/matlab_example/run_RIEKF_test.m +++ b/src/examples_matlab/run_RIEKF_test.m @@ -5,7 +5,7 @@ % Add paths addpath(genpath('forward_kinematics')) -addpath('example_code') +addpath('InEKF') %% Open Model mdl = 'RIEKF_test';