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This commit is contained in:
Joel Falcou 2025-05-07 17:01:58 +02:00
parent d901e17fa8
commit 491addb201
7 changed files with 296 additions and 0 deletions
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61
CMakeLists.txt Normal file
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##======================================================================================================================
## ROTGEN - Runtime Overlay for Eigen
## Copyright : CODE RECKONS
## SPDX-License-Identifier: BSL-1.0
##======================================================================================================================
cmake_minimum_required(VERSION 3.22)
enable_testing()
##======================================================================================================================
## Setup project
##======================================================================================================================
set(ROTGEN_MAJOR_VERSION 0)
set(ROTGEN_MINOR_VERSION 0)
set(ROTGEN_PATCH_VERSION 1)
set(ROTGEN_VERSION ${ROTGEN_MAJOR_VERSION}.${ROTGEN_MINOR_VERSION}.${ROTGEN_PATCH_VERSION})
set(PROJECT_VERSION ${ROTGEN_VERSION})
project(ROTGEN VERSION ${PROJECT_VERSION} DESCRIPTION "Runtime Overlay for Eigen" LANGUAGES CXX)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ROTGEN_SOURCE_DIR}/cmake )
##======================================================================================================================
## Prevent in-source build
##======================================================================================================================
if (${PROJECT_SOURCE_DIR} STREQUAL ${PROJECT_BINARY_DIR})
message(FATAL_ERROR "[${PROJECT_NAME}]: In-source build is not supported")
endif()
##======================================================================================================================
## Sources & Public Headers lists
##======================================================================================================================
set ( SOURCES
src/matrix_impl64.cpp
)
##======================================================================================================================
## Setup the library's dependencies
##======================================================================================================================
find_package (Eigen3 3.4 REQUIRED NO_MODULE)
##======================================================================================================================
## Setup the library's build
##======================================================================================================================
add_library(rotgen SHARED ${SOURCES})
set_target_properties(rotgen PROPERTIES VERSION ${PROJECT_VERSION})
set_target_properties(rotgen PROPERTIES SOVERSION ${PROJECT_VERSION_MAJOR})
target_compile_features(rotgen INTERFACE cxx_std_17)
set_target_properties(rotgen PROPERTIES EXPORT_NAME rotgen)
add_library(rotgen::rotgen ALIAS rotgen)
target_include_directories(rotgen PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries (rotgen PRIVATE Eigen3::Eigen)
##======================================================================================================================
## Setup the library's installation target
##======================================================================================================================
include(${ROTGEN_SOURCE_DIR}/cmake/config/rotgen-install.cmake)

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LICENSE.md Normal file
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Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

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cmake/config/rotgen-install.cmake Normal file
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##==================================================================================================
## ROTGEN - Runtime Overlay for Eigen
## Copyright : CODE RECKONS
## SPDX-License-Identifier: BSL-1.0
##==================================================================================================
include(GNUInstallDirs)
include(CMakePackageConfigHelpers)
set(MAIN_DEST "${CMAKE_INSTALL_LIBDIR}/rotgen")
set(INSTALL_DEST "${CMAKE_INSTALL_INCLUDEDIR}")
set(DOC_DEST "${CMAKE_INSTALL_DOCDIR}")
write_basic_package_version_file( "${CMAKE_CURRENT_BINARY_DIR}/rotgen-config-version.cmake"
VERSION "${EVE_VERSION}"
COMPATIBILITY ExactVersion
)
## =================================================================================================
## Install target with versioned folder
## =================================================================================================
install(TARGETS rotgen EXPORT rotgen-targets DESTINATION "${MAIN_DEST}")
install(TARGETS LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/rotgen DESTINATION "${INSTALL_DEST}" )
install(FILES ${PROJECT_SOURCE_DIR}/cmake/rotgen-config.cmake DESTINATION "${MAIN_DEST}" )
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/rotgen-config-version.cmake DESTINATION "${MAIN_DEST}" )
install(FILES ${PROJECT_SOURCE_DIR}/LICENSE.md DESTINATION "${DOC_DEST}" )
install(EXPORT rotgen-targets NAMESPACE "rotgen::" DESTINATION "${MAIN_DEST}" )

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cmake/rotgen-config.cmake Normal file
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##==================================================================================================
## ROTGEN - Runtime Overlay for Eigen
## Copyright : CODE RECKONS
## SPDX-License-Identifier: BSL-1.0
##==================================================================================================
##==================================================================================================
## Reuse install.cmake to prepare package properly
##==================================================================================================
include("${CMAKE_CURRENT_LIST_DIR}/rotgen-targets.cmake")
set(ROTGEN_LIBRARIES rotgen::rotgen)

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include/rotgen/impl/matrix_impl64.hpp Normal file
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//==================================================================================================
/*
ROTGEN - Runtime Overlay for Eigen
Copyright : CODE RECKONS
SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#pragma once
#include <memory>
#include <cstddef>
namespace rotgen
{
class matrix_impl64
{
public:
matrix_impl64(std::size_t rows = 0, std::size_t cols = 0);
matrix_impl64(matrix_impl64 const& other);
matrix_impl64& operator=(matrix_impl64 const& other);
matrix_impl64(matrix_impl64&&) noexcept;
matrix_impl64& operator=(matrix_impl64&&) noexcept;
~matrix_impl64();
std::size_t rows() const;
std::size_t cols() const;
double& operator()(std::size_t i, std::size_t j);
double const& operator()(std::size_t i, std::size_t j) const;
matrix_impl64& operator+=(matrix_impl64 const& rhs);
matrix_impl64& operator*=(matrix_impl64 const& rhs);
matrix_impl64& operator*=(double d);
friend std::ostream& operator<<(std::ostream&,matrix_impl64 const&);
private:
struct payload;
std::unique_ptr<payload> storage_;
};
}

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include/rotgen/matrix.hpp Normal file
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//==================================================================================================
/*
ROTGEN - Runtime Overlay for Eigen
Copyright : CODE RECKONS
SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#pragma once
#include <rotgen/impl/matrix_impl64.hpp>
namespace rotgen
{
template<typename Scalar, int Rows = -1, int Cols = -1>
class matrix : public matrix_impl64
{
using parent = matrix_impl64;
public:
matrix() : parent(Rows==-1?0:Rows,Cols==-1?0:Cols) {}
matrix(std::size_t r, std::size_t c) : parent(r,c) {}
matrix& operator+=(matrix const& rhs)
{
static_cast<parent&>(*this) += static_cast<parent const&>(rhs);
return *this;
}
matrix& operator*=(matrix const& rhs)
{
static_cast<parent&>(*this) *= static_cast<parent const&>(rhs);
return *this;
}
};
template<typename S, int R, int C>
matrix<S,R,C> operator+(matrix<S,R,C> const& lhs, matrix<S,R,C> const& rhs)
{
matrix<S,R,C> that(lhs);
return that += rhs;
}
template<typename S, int R, int C>
matrix<S,R,C> operator*(matrix<S,R,C> const& lhs, matrix<S,R,C> const& rhs)
{
matrix<S,R,C> that(lhs);
return that *= rhs;
}
}

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//==================================================================================================
/*
ROTGEN - Runtime Overlay for Eigen
Copyright : CODE RECKONS
SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#include <rotgen/matrix.hpp>
#include <Eigen/Dense>
namespace rotgen
{
struct matrix_impl64::payload
{
Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic> data;
payload(std::size_t r=0, std::size_t c=0) : data(r, c) {}
};
std::ostream& operator<<(std::ostream& os,matrix_impl64 const& m)
{
return os << m.storage_->data;
}
matrix_impl64::matrix_impl64(std::size_t r, std::size_t c)
: storage_(std::make_unique<payload>(r,c))
{}
matrix_impl64::matrix_impl64(matrix_impl64 const& o)
: matrix_impl64(o.storage_->data.rows(),o.storage_->data.cols())
{
storage_->data = o.storage_->data;
}
matrix_impl64& matrix_impl64::operator=(matrix_impl64 const& o)
{
if (this != &o) storage_->data = o.storage_->data;
return *this;
}
matrix_impl64::matrix_impl64(matrix_impl64&&) noexcept = default;
matrix_impl64& matrix_impl64::operator=(matrix_impl64&&) noexcept = default;
matrix_impl64::~matrix_impl64() = default;
std::size_t matrix_impl64::rows() const
{
return static_cast<std::size_t>(storage_->data.rows());
}
std::size_t matrix_impl64::cols() const
{
return static_cast<std::size_t>(storage_->data.cols());
}
double& matrix_impl64::operator()(std::size_t i, std::size_t j)
{
return storage_->data(i,j);
}
double const& matrix_impl64::operator()(std::size_t i, std::size_t j) const
{
return storage_->data(i,j);
}
matrix_impl64& matrix_impl64::operator+=(matrix_impl64 const& rhs)
{
storage_->data += rhs.storage_->data;
return *this;
}
matrix_impl64& matrix_impl64::operator*=(matrix_impl64 const& rhs)
{
storage_->data *= rhs.storage_->data;
return *this;
}
matrix_impl64& matrix_impl64::operator*=(double s)
{
storage_->data *= s;
return *this;
}
}