Merge remote-tracking branch 'origin/refactor-keidai' into guillemc

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ repos:
     hooks:
       - id: check-yaml
       - id: end-of-file-fixer
-      - id: trailing-whitespace
+      #- id: trailing-whitespace
       - id: mixed-line-ending
 
   - repo: https://github.com/psf/black
@@ -24,18 +24,18 @@ repos:
   #   hooks:
   #     - id: clang-format
 
-  - repo: https://github.com/pocc/pre-commit-hooks
-    rev: v1.3.5
-    hooks:
-      - id: clang-format
-      # - id: clang-tidy
-      #   args:
-      #     - --checks=-modernize-use-trailing-return-type,-readability-identifier-length,-readability-magic-numbers
-      # - id: oclint
-      # - id: uncrustify
-      # - id: cppcheck
-      # - id: cpplint
-      # - id: include-what-you-use
+  # - repo: https://github.com/pocc/pre-commit-hooks
+  #   rev: v1.3.5
+  #   hooks:
+  #     - id: clang-format
+  #     # - id: clang-tidy
+  #     #   args:
+  #     #     - --checks=-modernize-use-trailing-return-type,-readability-identifier-length,-readability-magic-numbers
+  #     # - id: oclint
+  #     # - id: uncrustify
+  #     # - id: cppcheck
+  #     # - id: cpplint
+  #     # - id: include-what-you-use
 
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: v4.0.0-alpha.8

CMakeLists.txt

@@ -17,8 +17,10 @@ if(PROJECT_SOURCE_DIR STREQUAL PROJECT_BINARY_DIR)
   )
 endif()
 
-# ---- Add dependencies ----
+# ---- Options ----
+option(UseTorch "Use LibTorch" OFF)
 
+# ---- Add dependencies ----
 include(cmake/FindOpenMP.cmake)
 include(cmake/CPM.cmake)
 add_subdirectory(thirdparty)
@@ -101,7 +103,18 @@ endfunction(target_link_libraries_system)
 target_link_libraries_system(${PROJECT_NAME} Eigen3::Eigen matplot autodiff::autodiff cspice)
 # Link HighFive
 target_link_libraries(${PROJECT_NAME} PUBLIC HighFive)
+# Link Torch
+if (UseTorch)
+  find_package(Torch REQUIRED)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${TORCH_LIBRARIES})
+  target_include_directories(LuPNT PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/_deps/libtorch-src/include>
+    $<INSTALL_INTERFACE:include>
+  )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
+endif()
 
+#Link OpenMP
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${OpenMP_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
 

examples/cpp/CMakeLists.txt

@@ -20,8 +20,17 @@ file(
   RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
   *.cc
 )
-# Remove example_ekf_elfo.cc from the list to compile
-list(REMOVE_ITEM examples "example_ekf_elfo.cc")
+
+if (NOT UseTorch)
+  # Remove example_torch.cc from the list to compile
+  set(NEW_EXAMPLES "")
+  foreach(item IN LISTS examples)
+    if(NOT item MATCHES "^torch/.*")
+      list(APPEND NEW_EXAMPLES "${item}")
+    endif()
+  endforeach()
+  set(examples "${NEW_EXAMPLES}")
+endif()
 
 find_package(OpenMP REQUIRED)
 

examples/cpp/basics/ex_autodiff.cc

@@ -8,7 +8,7 @@ int main() {
   bool flag = false;
 
   Vec3 y;
-  MatX dydx = jacobian(func, wrt(x), at(x, flag), y);
+  MatX dydx = jacobian(func, wrt(x), autodiff::at(x, flag), y);
   std::cout << dydx << std::endl;
 }
 

examples/cpp/distributed_algorithms/example_leader_election_sync_ring.cc

@@ -16,29 +16,29 @@ struct Transmission {
   int id_;
 };
 
-class Transponder;
+class MyTransonder;
 
 // Channel class
 class Channel {
 private:
   int id_;
   Real delay_ = 0.5;
-  vector<shared_ptr<Transponder>> transponders_;
+  vector<shared_ptr<MyTransonder>> transponders_;
 
 public:
-  void Send(Real t, const Transmission &transm, const Transponder &sender);
-  void Add(shared_ptr<Transponder> Transponder) { transponders_.push_back(Transponder); }
-  vector<shared_ptr<Transponder>> GetTransponders() { return transponders_; }
+  void Send(Real t, const Transmission &transm, const MyTransonder &sender);
+  void Add(shared_ptr<MyTransonder> MyTransonder) { transponders_.push_back(MyTransonder); }
+  vector<shared_ptr<MyTransonder>> GetMyTransonders() { return transponders_; }
 };
 
-// Transponder class
-class Transponder {
+// MyTransonder class
+class MyTransonder {
 private:
   shared_ptr<Channel> channel_;
   function<void(Real, const Transmission &)> receive_callback_;
 
 public:
-  Transponder(shared_ptr<Channel> channel) : channel_(channel) {}
+  MyTransonder(shared_ptr<Channel> channel) : channel_(channel) {}
   void SetReceiveCallback(function<void(Real, const Transmission &)> callback) {
     receive_callback_ = callback;
   }
@@ -48,11 +48,11 @@ class Transponder {
   void Receive(Real t, const Transmission &transm) { receive_callback_(t, transm); }
 };
 
-void Channel::Send(Real t, const Transmission &transm, const Transponder &sender) {
-  for (const auto &Transponder : transponders_) {
-    if (Transponder.get() != &sender) {
+void Channel::Send(Real t, const Transmission &transm, const MyTransonder &sender) {
+  for (const auto &MyTransonder : transponders_) {
+    if (MyTransonder.get() != &sender) {
       Scheduler::Schedule(t + delay_,
-                          [Transponder, transm](Real t) { Transponder->Receive(t.val(), transm); });
+                          [MyTransonder, transm](Real t) { MyTransonder->Receive(t, transm); });
     }
   }
 }
@@ -62,14 +62,14 @@ class RingAgent {
 private:
   static int id_counter_;
   const int id_;
-  vector<shared_ptr<Transponder>> transponders_;
+  vector<shared_ptr<MyTransonder>> transponders_;
 
 public:
-  RingAgent() : id_(id_counter_++), transponders_(vector<shared_ptr<Transponder>>()) {}
+  RingAgent() : id_(id_counter_++), transponders_(vector<shared_ptr<MyTransonder>>()) {}
   int GetId() { return id_; }
 
-  void Add(shared_ptr<Transponder> Transponder) { transponders_.push_back(Transponder); }
-  vector<shared_ptr<Transponder>> GetTransponders() { return transponders_; }
+  void Add(shared_ptr<MyTransonder> MyTransonder) { transponders_.push_back(MyTransonder); }
+  vector<shared_ptr<MyTransonder>> GetMyTransonders() { return transponders_; }
 };
 
 int RingAgent::id_counter_ = 0;
@@ -89,14 +89,14 @@ class LeaderElectionSyncRingApp : public Application {
   void Step(Real t) override {
     if (id_received_ == -1) {
       cout << "[Agent " << id_ << "] Sending " << id_ << " at t = " << t << endl;
-      for (const auto &Transponder : agent_->GetTransponders()) {
+      for (const auto &MyTransonder : agent_->GetMyTransonders()) {
         // transmittion instance with _id
-        Transponder->Send(t, Transmission{id_});
+        MyTransonder->Send(t, Transmission{id_});
       }
     } else if (id_received_ > id_) {
       cout << "[Agent " << id_ << "] Sending " << id_received_ << " at t = " << t << endl;
-      for (const auto &Transponder : agent_->GetTransponders()) {
-        Transponder->Send(t, Transmission{id_received_});
+      for (const auto &MyTransonder : agent_->GetMyTransonders()) {
+        MyTransonder->Send(t, Transmission{id_received_});
       }
     } else if (id_received_ < id_) {
       cout << "[Agent " << id_ << "] Doing nothing"
@@ -126,12 +126,12 @@ int main() {
     channels[i] = make_shared<Channel>();
   }
 
-  // Create Transponders and add them to agents and channels
+  // Create MyTransonders and add them to agents and channels
   for (int i = 0; i < n; i++) {
     auto ch1 = channels[i];
     auto ch2 = channels[(i + 1) % n];
-    auto transc1 = make_shared<Transponder>(ch1);
-    auto transc2 = make_shared<Transponder>(ch2);
+    auto transc1 = make_shared<MyTransonder>(ch1);
+    auto transc2 = make_shared<MyTransonder>(ch2);
     transc1->SetReceiveCallback(bind(&LeaderElectionSyncRingApp::TransmissionReceived,
                                      apps[i].get(), placeholders::_1, placeholders::_2));
     transc2->SetReceiveCallback(bind(&LeaderElectionSyncRingApp::TransmissionReceived,

examples/cpp/other/example_ground_station.cc

@@ -0,0 +1,21 @@
+#include <lupnt/lupnt.h>
+
+using namespace lupnt;
+
+int main() {
+  GroundStationDataMap gs_data = LoadGroundStationData();
+
+  // print the ground station latitude, longitude, and altitude
+  std::cout << "GS Name       Latitude    Longitude    Altitude" << std::endl;
+  for (auto& [gs_id, gs] : gs_data) {
+    std::cout << gs.name << "  " << gs.latitude << "  " << gs.longitude << "  " << gs.altitude_m
+              << std::endl;
+  }
+
+  std::cout << " " << std::endl;
+  GroundStation gs = GroundStation(gs_data[0]);
+  std::cout << "GS Name  : " << gs.GetName() << std::endl;
+  std::cout << "Lat, Lon : " << gs.GetLatitudeDouble() * DEG << " , "
+            << gs.GetLongitudeDouble() * DEG << std::endl;
+  std::cout << "PosVel   : " << gs.GetRvState()->GetVec().transpose() << std::endl;
+}