From 7b8db2d6686f1a6b5c171ddb537724a558fa1812 Mon Sep 17 00:00:00 2001 From: tan7271 Date: Wed, 1 May 2024 22:30:43 -0700 Subject: [PATCH 1/7] Added Distance.cpp for SphericalDistanceDeterminationAlgorithm -Changed a few header files (namely attitude-utils) to add midpoint functions for Vec2 and Vec3 --- src/attitude-utils.cpp | 56 ++++++++++++++++++++++++++++- src/attitude-utils.hpp | 6 ++++ src/distance.cpp | 81 ++++++++++++++++++++++++++++++++++++++++++ src/distance.hpp | 23 ++++++++++-- src/style.hpp | 2 +- 5 files changed, 163 insertions(+), 5 deletions(-) create mode 100644 src/distance.cpp diff --git a/src/attitude-utils.cpp b/src/attitude-utils.cpp index cf1401f..3d3a95e 100644 --- a/src/attitude-utils.cpp +++ b/src/attitude-utils.cpp @@ -425,6 +425,47 @@ Vec3 Vec3::operator*(const Mat3 &other) const { ///// VECTOR UTILITY FUNCTIONS //// /////////////////////////////////// +/** +* Finds the midpoint between two different vectors +* +* @param vec1 The first vector +* @param vec2 The second vector +* +* @return The mid point vector +* +*/ +Vec2 midpoint(const Vec2 &vec1, const Vec2 &vec2){ + return {(vec1.x + vec2.x)/2, (vec1.y + vec2.y)/2}; +} + +/** +* Finds the midpoint between two different vectors +* +* @param vec1 The first vector +* @param vec2 The second vector +* +* @return The mid point vector +* +*/ +Vec3 midpoint(const Vec3 &vec1, const Vec3 &vec2){ + return {(vec1.x + vec2.x)/2, (vec1.y + vec2.y)/2, (vec1.z + vec2.z)/2}; +} + +/** +* Finds the midpoint between three different vectors +* +* @param vec1 The first vector +* @param vec2 The second vector +* @param vec3 The third vector +* +* @return The mid point vector +* +*/ +Vec3 midpoint(const Vec3 &vec1, const Vec3 &vec2, const Vec3 &vec3){ + return {(vec1.x + vec2.x + vec3.x)/3, (vec1.y + vec2.y + vec3.y)/3, (vec1.z + vec2.z + vec3.z)/3}; +} + + /** * Determines the angle between two different vectors * @@ -457,7 +498,7 @@ decimal AngleUnit(const Vec3 &vec1, const Vec3 &vec2) { } /** - * Determines the distance between two vectors + * Determines the between two vectors * * @param v1 The first vector * @param v2 The second vector @@ -469,6 +510,19 @@ decimal Distance(const Vec2 &v1, const Vec2 &v2) { return sqrt(pow(v1.x-v2.x, 2) + pow(v1.y-v2.y, 2)); } +/** + * Determines the between two vectors + * + * @param v1 The first vector + * @param v2 The second vector + * + * @return The distance between v1 and v2 + * +*/ +decimal Distance(const Vec3 &v1, const Vec3 &v2) { + return sqrt(pow(v1.x-v2.x, 2) + pow(v1.y-v2.y, 2) + pow(v1.z-v2.z, 2)); +} + /////////////////////////////////// ///////// MATRIX CLASS //////////// /////////////////////////////////// diff --git a/src/attitude-utils.hpp b/src/attitude-utils.hpp index 53d6d79..c282a75 100644 --- a/src/attitude-utils.hpp +++ b/src/attitude-utils.hpp @@ -104,6 +104,7 @@ class Mat3 { public: decimal x[9]; + // Accessor decimal At(int i, int j) const; @@ -224,6 +225,11 @@ class Attitude { AttitudeType type; }; +// Vector operations +Vec2 midpoint(const Vec2 &, const Vec2 &); +Vec3 midpoint(const Vec3 &, const Vec3 &); +Vec3 midpoint(const Vec3 &, const Vec3 &, const Vec3); + // DCM-Quaternion-Spherical Conversions Mat3 QuaternionToDCM(const Quaternion &); diff --git a/src/distance.cpp b/src/distance.cpp new file mode 100644 index 0000000..33684a8 --- /dev/null +++ b/src/distance.cpp @@ -0,0 +1,81 @@ +#include "attitude-utils.hpp" +#include "style.hpp" +#include "camera.hpp" +#include "distance.hpp" +#include + +namespace found { + class SphericalDistanceDeterminationAlgorithm { + public: + distFromEarth Run(char *image, Points &p, int imageWidth, int imageHeight) + { + return solve(p, radius_); + } + private: + + Vec3 getCenter(Vec3* spats){ + Vec3 diff1 = spats[1] - spats[0]; + Vec3 diff2 = spats[2] -spats[1]; + + Vec3 circleN = diff1.CrossProduct(diff2); + Vec3 circlePt = spats[0]; + + Vec3 mid1 = midpoint(spats[0], spats[1]); + Vec3 mid2 = midpoint(spats[1], spats[2]); + + Vec3 mid1N = diff1; + Vec3 mid2N = diff2; + + Mat3 matrix; + matrix.x[0] = circleN.x; + matrix.x[1] = circleN.y; + matrix.x[2] = circleN.z; + matrix.x[3] = mid1N.x; + matrix.x[4] = mid1N.y; + matrix.x[5] = mid1N.z; + matrix.x[6] = mid2N.x; + matrix.x[7] = mid2N.y; + matrix.x[8] = mid2N.z; + + int alpha = circleN*circlePt; + int beta = mid1N*mid1; + int gamma = mid2N*mid2; + + Vec3 y; + y.x = alpha; + y.y = beta; + y.z = gamma; + + Vec3 center = y * matrix.Inverse(); + + return center; + } + + decimal getRadius(Vec3* spats, Vec3 center){ + return Distance(spats[0], center); + } + + decimal getDistance(decimal r) + { + return 6378/r; + } + + distFromEarth solve(Points& pts, int R){ + Vec3 spats[3] = {cam_.CameraToSpatial(pts[0]), cam_.CameraToSpatial(pts[1]), cam_.CameraToSpatial(pts[2])}; + Vec3 uSpats[3] = {spats[0].Normalize(), spats[1].Normalize(), spats[2].Normalize()}; + + Vec3 center = getCenter(uSpats); + decimal r = getRadius(uSpats, center); + + decimal h = getDistance(r); + + printf("========= solution =============\n"); + printf("((center), h) = ((%f, %f, %f), %f)\n", center.x,center.y,center.z,r); + printf("Distance from surface: %f\n", h - R); + + return center * h; + } + + + }; +} diff --git a/src/distance.hpp b/src/distance.hpp index 5d3f20c..6cde6d1 100644 --- a/src/distance.hpp +++ b/src/distance.hpp @@ -2,6 +2,8 @@ #define DISTANCE_H #include "style.hpp" +#include "attitude-utils.hpp" +#include "camera.hpp" namespace found { @@ -25,7 +27,7 @@ class DistanceDeterminationAlgorithm { * * @return The distance of the satellite from Earth */ - virtual distFromEarth Run(char* image, Points &p /*More go here*/) = 0; + virtual distFromEarth Run(char* image, Points &p, int imageWidth, int imageHeight /*More go here*/) = 0; }; /** @@ -36,15 +38,30 @@ class DistanceDeterminationAlgorithm { */ class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgorithm { public: - SphericalDistanceDeterminationAlgorithm(float radius); + SphericalDistanceDeterminationAlgorithm(float radius, Camera &cam) : radius_(radius), cam_(cam) {}; + /** + * Equivalent to: + * + * SphericalDistanceDeterminationAlgorithm(float radius) { + * radius_ = radius; + * } + */ ~SphericalDistanceDeterminationAlgorithm(); /** * Place documentation here. Press enter to automatically make a new line * */ - distFromEarth Run(char* image, Points &p/*More go here*/) override; + distFromEarth Run(char* image, Points &p, int imageWidth, int imageHeight/*More go here*/) override; private: // Fields specific to this algorithm, and helper methods + Vec3 getCenter(Vec3* spats); + decimal getRadius(Vec3* spats, Vec3 center); + decimal getDistance(decimal r); + void solve(Points& pts, int R); + + Camera cam_; + float radius_; + }; /** diff --git a/src/style.hpp b/src/style.hpp index 1cf9ca8..a91e88f 100644 --- a/src/style.hpp +++ b/src/style.hpp @@ -16,7 +16,7 @@ typedef std::vector Points; // The output for Distance Determination Algorithms (distance.hpp/cpp). Currently // set to a floating point value that represents the distance from Earth -typedef decimal distFromEarth; +typedef Vec3 distFromEarth; // The output for Vector Assembly Algorithms (vectorize.hpp). Currently set // to a 3D Vector that represents the satellite's position relative to Earth's From 58cc37a9408354216a575fdb014c871d479c3db5 Mon Sep 17 00:00:00 2001 From: tan7271 Date: Wed, 1 May 2024 22:37:11 -0700 Subject: [PATCH 2/7] Update attitude-utils.cpp --- src/attitude-utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/attitude-utils.cpp b/src/attitude-utils.cpp index 3d3a95e..23817b8 100644 --- a/src/attitude-utils.cpp +++ b/src/attitude-utils.cpp @@ -498,7 +498,7 @@ decimal AngleUnit(const Vec3 &vec1, const Vec3 &vec2) { } /** - * Determines the between two vectors + * Determines the Distance between two vectors * * @param v1 The first vector * @param v2 The second vector From add6ef45fe22b5f75070301c7ec3345d3a94817f Mon Sep 17 00:00:00 2001 From: tan7271 Date: Wed, 22 May 2024 17:50:05 -0700 Subject: [PATCH 3/7] Cleared up code quality and fixed a few bugs --- src/attitude-utils.cpp | 73 ++++++++++--------------------- src/attitude-utils.hpp | 1 - src/distance.cpp | 99 +++++++++++++++++------------------------- src/distance.hpp | 42 ++++++++++++++---- src/style.hpp | 2 +- 5 files changed, 100 insertions(+), 117 deletions(-) diff --git a/src/attitude-utils.cpp b/src/attitude-utils.cpp index 23817b8..1d67043 100644 --- a/src/attitude-utils.cpp +++ b/src/attitude-utils.cpp @@ -256,7 +256,6 @@ decimal DegToRad(decimal deg) { * @pre rad is in radians * * @warning rad must be in radians - * */ decimal RadToArcSec(decimal rad) { return RadToDeg(rad) * 3600.0; @@ -270,7 +269,6 @@ decimal RadToArcSec(decimal rad) { * * @return A possible angle value, in radians, corresponding * to the arcsecant value arcSec - * */ decimal ArcSecToRad(decimal arcSec) { return DegToRad(arcSec / 3600.0); @@ -377,7 +375,6 @@ Vec3 Vec3::operator-(const Vec3 &other) const { * * @return A vector that is the cross product between * this and other - * */ Vec3 Vec3::CrossProduct(const Vec3 &other) const { return { @@ -394,7 +391,6 @@ Vec3 Vec3::CrossProduct(const Vec3 &other) const { * * @return A matrix that is the outer product between this * and other - * */ Mat3 Vec3::OuterProduct(const Vec3 &other) const { return { @@ -426,40 +422,37 @@ Vec3 Vec3::operator*(const Mat3 &other) const { /////////////////////////////////// /** -* Finds the midpoint between two different vectors -* -* @param vec1 The first vector -* @param vec2 The second vector -* -* @return The mid point vector -* + * Finds the midpoint between two different vectors + * + * @param vec1 The first vector + * @param vec2 The second vector + * + * @return The midpoint vector */ Vec2 midpoint(const Vec2 &vec1, const Vec2 &vec2){ return {(vec1.x + vec2.x)/2, (vec1.y + vec2.y)/2}; } /** -* Finds the midpoint between two different vectors -* -* @param vec1 The first vector -* @param vec2 The second vector -* -* @return The mid point vector -* + * Finds the midpoint between two different vectors + * + * @param vec1 The first vector + * @param vec2 The second vector + * + * @return The midpoint vector */ Vec3 midpoint(const Vec3 &vec1, const Vec3 &vec2){ return {(vec1.x + vec2.x)/2, (vec1.y + vec2.y)/2, (vec1.z + vec2.z)/2}; } /** -* Finds the midpoint between three different vectors -* -* @param vec1 The first vector -* @param vec2 The second vector -* @param vec3 The third vector -* -* @return The mid point vector -* + * Finds the midpoint between three different vectors + * + * @param vec1 The first vector + * @param vec2 The second vector + * @param vec3 The third vector + * + * @return The midpoint vector */ Vec3 midpoint(const Vec3 &vec1, const Vec3 &vec2, const Vec3 &vec3){ return {(vec1.x + vec2.x + vec3.x)/3, (vec1.y + vec2.y + vec3.y)/3, (vec1.z + vec2.z + vec3.z)/3}; @@ -473,7 +466,6 @@ Vec3 midpoint(const Vec3 &vec1, const Vec3 &vec2, const Vec3 &vec3){ * @param vec2 The second vector * * @return The angle, in radians, between vec1 and vec2 - * */ decimal Angle(const Vec3 &vec1, const Vec3 &vec2) { return AngleUnit(vec1.Normalize(), vec2.Normalize()); @@ -504,23 +496,21 @@ decimal AngleUnit(const Vec3 &vec1, const Vec3 &vec2) { * @param v2 The second vector * * @return The distance between v1 and v2 - * */ decimal Distance(const Vec2 &v1, const Vec2 &v2) { - return sqrt(pow(v1.x-v2.x, 2) + pow(v1.y-v2.y, 2)); + return (v1-v2).Magnitude(); } /** - * Determines the between two vectors + * Determines the Distance between two vectors * * @param v1 The first vector * @param v2 The second vector * * @return The distance between v1 and v2 - * */ decimal Distance(const Vec3 &v1, const Vec3 &v2) { - return sqrt(pow(v1.x-v2.x, 2) + pow(v1.y-v2.y, 2) + pow(v1.z-v2.z, 2)); + return (v1-v2).Magnitude(); } /////////////////////////////////// @@ -534,7 +524,6 @@ decimal Distance(const Vec3 &v1, const Vec3 &v2) { * @param j The column of the entry * * @return The value of the entry in this at (i, j) - * */ decimal Mat3::At(int i, int j) const { return x[3*i+j]; @@ -604,7 +593,6 @@ Mat3 Mat3::operator*(const decimal &s) const { * Obtains the transpose of this Matrix * * @return The transpose Matrix of this - * */ Mat3 Mat3::Transpose() const { return { @@ -618,7 +606,6 @@ Mat3 Mat3::Transpose() const { * Obtains the trace of this Matrix * * @return The trace of this - * */ decimal Mat3::Trace() const { return At(0,0) + At(1,1) + At(2,2); @@ -628,7 +615,6 @@ decimal Mat3::Trace() const { * Obtains the determinant of this Matrix * * @return The determinant of this - * */ decimal Mat3::Det() const { return (At(0,0) * (At(1,1)*At(2,2) - At(2,1)*At(1,2))) - (At(0,1) * (At(1,0)*At(2,2) - At(2,0)*At(1,2))) + (At(0,2) * (At(1,0)*At(2,1) - At(2,0)*At(1,1))); @@ -637,8 +623,7 @@ decimal Mat3::Det() const { /** * Obtains the inverse of this Matrix * - * @return The inverse Matrix of this - * + * @return The inverse Matrix of this */ Mat3 Mat3::Inverse() const { // https://ardoris.wordpress.com/2008/07/18/general-formula-for-the-inverse-of-a-3x3-matrix/ @@ -666,8 +651,7 @@ Mat3 Mat3::Inverse() const { /** * Constructs an Attitude object from Quaternion information * - * @param quat The quaternion to base the attitude off of - * + * @param quat The quaternion to base the attitude off of */ Attitude::Attitude(const Quaternion &quat) : quaternion(quat), type(QuaternionType) {} @@ -677,7 +661,6 @@ Attitude::Attitude(const Quaternion &quat) * matrix holding the direction cosines for an attitude) * * @param matrix The matrix holding the direction cosines - * */ Attitude::Attitude(const Mat3 &matrix) : dcm(matrix), type(DCMType) {} @@ -711,7 +694,6 @@ Mat3 QuaternionToDCM(const Quaternion &quat) { * @param dcm The matrix holding the direction cosines * * @return A Quaternion that expresses the rotation defined in dcm - * */ Quaternion DCMToQuaternion(const Mat3 &dcm) { // Make a quaternion that rotates the reference frame X-axis into the dcm's X-axis, just like @@ -746,7 +728,6 @@ Quaternion DCMToQuaternion(const Mat3 &dcm) { * * @return A Quaternion that holds the attitude information * of this - * */ Quaternion Attitude::GetQuaternion() const { switch (type) { @@ -764,7 +745,6 @@ Quaternion Attitude::GetQuaternion() const { * * @return A matrix containing the direction cosines * indicated by this - * */ Mat3 Attitude::GetDCM() const { switch (type) { @@ -784,7 +764,6 @@ Mat3 Attitude::GetDCM() const { * @param vec The vector to rotate * * @return A new vector that is rotated from vec based on this - * */ Vec3 Attitude::Rotate(const Vec3 &vec) const { switch (type) { @@ -802,7 +781,6 @@ Vec3 Attitude::Rotate(const Vec3 &vec) const { * * @return An EulerAngles object that holds the Euler * Angles of this - * */ EulerAngles Attitude::ToSpherical() const { switch (type) { @@ -823,7 +801,6 @@ EulerAngles Attitude::ToSpherical() const { * Computes the size, in bytes, that a Vec3 object will take up * * @return The number of bytes that a Vec3 occupies - * */ long SerializeLengthVec3() { return sizeof(decimal)*3; @@ -841,7 +818,6 @@ long SerializeLengthVec3() { * @note A buffer is a very long character array that holds information * that the user defines. Serialization of data means inputting certain * data into a buffer. - * */ void SerializeVec3(const Vec3 &vec, unsigned char *buffer) { decimal *fBuffer = (decimal *)buffer; @@ -863,7 +839,6 @@ void SerializeVec3(const Vec3 &vec, unsigned char *buffer) { * * @warning Returns nonsense if buffer does not point to a valid location * that stores a Vec3 - * */ Vec3 DeserializeVec3(const unsigned char *buffer) { Vec3 result; diff --git a/src/attitude-utils.hpp b/src/attitude-utils.hpp index c282a75..26a994c 100644 --- a/src/attitude-utils.hpp +++ b/src/attitude-utils.hpp @@ -104,7 +104,6 @@ class Mat3 { public: decimal x[9]; - // Accessor decimal At(int i, int j) const; diff --git a/src/distance.cpp b/src/distance.cpp index 33684a8..4563f61 100644 --- a/src/distance.cpp +++ b/src/distance.cpp @@ -1,81 +1,64 @@ +#include + #include "attitude-utils.hpp" #include "style.hpp" #include "camera.hpp" + #include "distance.hpp" -#include -namespace found { - class SphericalDistanceDeterminationAlgorithm { - public: - distFromEarth Run(char *image, Points &p, int imageWidth, int imageHeight) - { - return solve(p, radius_); - } - private: +#define RADIUS_OF_EARTH 6378.0 - Vec3 getCenter(Vec3* spats){ - Vec3 diff1 = spats[1] - spats[0]; - Vec3 diff2 = spats[2] -spats[1]; +namespace found { - Vec3 circleN = diff1.CrossProduct(diff2); - Vec3 circlePt = spats[0]; +distFromEarth SphericalDistanceDeterminationAlgorithm::Run(char *image, Points &p, int imageWidth, int imageHeight) +{ + return solve(p, radius_); +} - Vec3 mid1 = midpoint(spats[0], spats[1]); - Vec3 mid2 = midpoint(spats[1], spats[2]); +Vec3 SphericalDistanceDeterminationAlgorithm::getCenter(Vec3* spats){ + Vec3 diff1 = spats[1] - spats[0]; + Vec3 diff2 = spats[2] -spats[1]; - Vec3 mid1N = diff1; - Vec3 mid2N = diff2; + Vec3 circleN = diff1.CrossProduct(diff2); + Vec3 circlePt = spats[0]; - Mat3 matrix; - matrix.x[0] = circleN.x; - matrix.x[1] = circleN.y; - matrix.x[2] = circleN.z; - matrix.x[3] = mid1N.x; - matrix.x[4] = mid1N.y; - matrix.x[5] = mid1N.z; - matrix.x[6] = mid2N.x; - matrix.x[7] = mid2N.y; - matrix.x[8] = mid2N.z; + Vec3 mid1 = midpoint(spats[0], spats[1]); + Vec3 mid2 = midpoint(spats[1], spats[2]); - int alpha = circleN*circlePt; - int beta = mid1N*mid1; - int gamma = mid2N*mid2; + Vec3 mid1N = diff1; + Vec3 mid2N = diff2; - Vec3 y; - y.x = alpha; - y.y = beta; - y.z = gamma; + Mat3 matrix; + matrix = {circleN.x, circleN.y, circleN.z, mid1N.x, mid1N.y, mid1N.z, mid2N.x, mid2N.y, mid2N.z}; - Vec3 center = y * matrix.Inverse(); + int alpha = circleN*circlePt; + int beta = mid1N*mid1; + int gamma = mid2N*mid2; - return center; - } + Vec3 y = {alpha, beta, gamma}; - decimal getRadius(Vec3* spats, Vec3 center){ - return Distance(spats[0], center); - } + Vec3 center = matrix.Inverse() * y; - decimal getDistance(decimal r) - { - return 6378/r; - } + return center; +} - distFromEarth solve(Points& pts, int R){ - Vec3 spats[3] = {cam_.CameraToSpatial(pts[0]), cam_.CameraToSpatial(pts[1]), cam_.CameraToSpatial(pts[2])}; - Vec3 uSpats[3] = {spats[0].Normalize(), spats[1].Normalize(), spats[2].Normalize()}; +decimal SphericalDistanceDeterminationAlgorithm::getRadius(Vec3* spats, Vec3 center){ + return Distance(spats[0], center); +} - Vec3 center = getCenter(uSpats); - decimal r = getRadius(uSpats, center); +decimal SphericalDistanceDeterminationAlgorithm::getDistance(decimal r) +{ + return RADIUS_OF_EARTH/r; +} - decimal h = getDistance(r); +distFromEarth SphericalDistanceDeterminationAlgorithm::solve(Points& pts, int R){ + Vec3 uSpats[3] = {cam_.CameraToSpatial(pts[0]).Normalize(), cam_.CameraToSpatial(pts[1]).Normalize(), cam_.CameraToSpatial(pts[2]).Normalize()}; - printf("========= solution =============\n"); - printf("((center), h) = ((%f, %f, %f), %f)\n", center.x,center.y,center.z,r); - printf("Distance from surface: %f\n", h - R); + Vec3 center = getCenter(uSpats); + decimal r = getRadius(uSpats, center); - return center * h; - } + decimal h = getDistance(r); - - }; + return center * h; } +}; diff --git a/src/distance.hpp b/src/distance.hpp index 6cde6d1..c9bfae7 100644 --- a/src/distance.hpp +++ b/src/distance.hpp @@ -39,13 +39,6 @@ class DistanceDeterminationAlgorithm { class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgorithm { public: SphericalDistanceDeterminationAlgorithm(float radius, Camera &cam) : radius_(radius), cam_(cam) {}; - /** - * Equivalent to: - * - * SphericalDistanceDeterminationAlgorithm(float radius) { - * radius_ = radius; - * } - */ ~SphericalDistanceDeterminationAlgorithm(); /** @@ -54,10 +47,43 @@ class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgo distFromEarth Run(char* image, Points &p, int imageWidth, int imageHeight/*More go here*/) override; private: // Fields specific to this algorithm, and helper methods + /** + *Returns the center of earth as a 3d Vector + * + * @param spats The normalized spatial coordinates used to find the center + * + * @return The center of earth as a 3d Vector + */ Vec3 getCenter(Vec3* spats); + + /** + * Returns the radius of the calculated "earth" (normalized) + * + * @param spats The normalized spatial coordinates + * @param center The center of the earth as a 3d Vector + * + * @return The radius of earth normalized + */ decimal getRadius(Vec3* spats, Vec3 center); + + /** + * Returns the scaled distance from earth + * + * @param r The normalized radius + * + * @return The distance from earth as a Scalar + */ decimal getDistance(decimal r); - void solve(Points& pts, int R); + + /** + * Solves the whole thing, calculating the final distance from the earth as a 3d Vector + * + * @param pts The points on the image (Not used) + * @param R The given radius (Currently not used, Radius is set to 6378.0) + * + * @return The distance from earth as a 3d Vector + */ + distFromEarth solve(Points& pts, int R); Camera cam_; float radius_; diff --git a/src/style.hpp b/src/style.hpp index a91e88f..9b5b1fc 100644 --- a/src/style.hpp +++ b/src/style.hpp @@ -15,7 +15,7 @@ namespace found { typedef std::vector Points; // The output for Distance Determination Algorithms (distance.hpp/cpp). Currently -// set to a floating point value that represents the distance from Earth +// set to a 3d Vector that represents the distance from Earth typedef Vec3 distFromEarth; // The output for Vector Assembly Algorithms (vectorize.hpp). Currently set From 93c5f5faf67f0582f543d05bf9afe2cb0c66e9aa Mon Sep 17 00:00:00 2001 From: tan7271 Date: Sat, 25 May 2024 11:04:04 -0700 Subject: [PATCH 4/7] Fixed some syntax errors, and implemented std::move --- src/distance.cpp | 50 ++++++++++++++++++++++++++---------------------- src/distance.hpp | 11 +++++++++-- src/style.hpp | 8 +++++++- 3 files changed, 43 insertions(+), 26 deletions(-) diff --git a/src/distance.cpp b/src/distance.cpp index 4563f61..d91237a 100644 --- a/src/distance.cpp +++ b/src/distance.cpp @@ -1,4 +1,5 @@ #include +#include #include "attitude-utils.hpp" #include "style.hpp" @@ -8,53 +9,56 @@ #define RADIUS_OF_EARTH 6378.0 -namespace found { - -distFromEarth SphericalDistanceDeterminationAlgorithm::Run(char *image, Points &p, int imageWidth, int imageHeight) -{ +namespace found { +distFromEarth SphericalDistanceDeterminationAlgorithm::Run(char *image, +Points &p, int imageWidth, int imageHeight) { return solve(p, radius_); } -Vec3 SphericalDistanceDeterminationAlgorithm::getCenter(Vec3* spats){ - Vec3 diff1 = spats[1] - spats[0]; - Vec3 diff2 = spats[2] -spats[1]; +Vec3 SphericalDistanceDeterminationAlgorithm::getCenter(Vec3* spats) { + Vec3 diff1 = std::move(spats[1] - spats[0]); + Vec3 diff2 = std::move(spats[2] - spats[1]); - Vec3 circleN = diff1.CrossProduct(diff2); + Vec3 circleN = std::move(diff1.CrossProduct(diff2)); Vec3 circlePt = spats[0]; - Vec3 mid1 = midpoint(spats[0], spats[1]); - Vec3 mid2 = midpoint(spats[1], spats[2]); + Vec3 mid1 = std::move(midpoint(spats[0], spats[1])); + Vec3 mid2 = std::move(midpoint(spats[1], spats[2])); - Vec3 mid1N = diff1; - Vec3 mid2N = diff2; + Vec3 mid1N = std::move(diff1); + Vec3 mid2N = std::move(diff2); Mat3 matrix; - matrix = {circleN.x, circleN.y, circleN.z, mid1N.x, mid1N.y, mid1N.z, mid2N.x, mid2N.y, mid2N.z}; + matrix = {circleN.x, circleN.y, circleN.z, mid1N.x, mid1N.y, + mid1N.z, mid2N.x, mid2N.y, mid2N.z}; - int alpha = circleN*circlePt; - int beta = mid1N*mid1; - int gamma = mid2N*mid2; + decimal alpha = circleN*circlePt; + decimal beta = mid1N*mid1; + decimal gamma = mid2N*mid2; Vec3 y = {alpha, beta, gamma}; - Vec3 center = matrix.Inverse() * y; + Vec3 center = std::move(matrix.Inverse() * y); return center; } -decimal SphericalDistanceDeterminationAlgorithm::getRadius(Vec3* spats, Vec3 center){ +decimal SphericalDistanceDeterminationAlgorithm::getRadius(Vec3* spats, +Vec3 center) { return Distance(spats[0], center); } -decimal SphericalDistanceDeterminationAlgorithm::getDistance(decimal r) -{ +decimal SphericalDistanceDeterminationAlgorithm::getDistance(decimal r) { return RADIUS_OF_EARTH/r; } -distFromEarth SphericalDistanceDeterminationAlgorithm::solve(Points& pts, int R){ - Vec3 uSpats[3] = {cam_.CameraToSpatial(pts[0]).Normalize(), cam_.CameraToSpatial(pts[1]).Normalize(), cam_.CameraToSpatial(pts[2]).Normalize()}; +distFromEarth SphericalDistanceDeterminationAlgorithm::solve(Points& pts, + int R) { + Vec3 uSpats[3] = {cam_.CameraToSpatial(pts[0]).Normalize(), + cam_.CameraToSpatial(pts[1]).Normalize(), + cam_.CameraToSpatial(pts[2]).Normalize()}; - Vec3 center = getCenter(uSpats); + Vec3 center = std::move(getCenter(uSpats)); decimal r = getRadius(uSpats, center); decimal h = getDistance(r); diff --git a/src/distance.hpp b/src/distance.hpp index c9bfae7..7c5d4aa 100644 --- a/src/distance.hpp +++ b/src/distance.hpp @@ -38,7 +38,7 @@ class DistanceDeterminationAlgorithm { */ class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgorithm { public: - SphericalDistanceDeterminationAlgorithm(float radius, Camera &cam) : radius_(radius), cam_(cam) {}; + SphericalDistanceDeterminationAlgorithm(float radius, Camera &cam) : cam_(cam), radius_(radius) {}; ~SphericalDistanceDeterminationAlgorithm(); /** @@ -85,7 +85,14 @@ class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgo */ distFromEarth solve(Points& pts, int R); + /** + * cam_ field instance describes the camera settings used for the photo taken + */ Camera cam_; + + /** + * radius_ field instance describes the defined radius of earth. Should be 6378.0 (km) + */ float radius_; }; @@ -104,7 +111,7 @@ class EllipticDistanceDeterminationAlgorithm : public DistanceDeterminationAlgor /** * Place documentation here. Press enter to automatically make a new line * */ - distFromEarth Run(char* image, Points &p/*More go here*/) override; + distFromEarth Run(char* image, Points &p, int imageWidth, int imageHeight/*More go here*/) override; private: //Fields specific to this algorithm, and helper methods }; diff --git a/src/style.hpp b/src/style.hpp index 9b5b1fc..3bc529b 100644 --- a/src/style.hpp +++ b/src/style.hpp @@ -3,11 +3,15 @@ * */ +#ifndef STYLE_H_ +#define STYLE_H_ + #include #include #include "attitude-utils.hpp" + namespace found { // The output for Edge Detection Algorithms (edge.hpp/cpp). Currently set @@ -95,4 +99,6 @@ typedef struct OrbitParams OrbitParams; // The output for Kinematic Profile Completion. Currently set to two functions that // will tell you the position and velocity of the satellite at any given time typedef std::pair,std::function> KinematicPrediction; -} \ No newline at end of file +} + +#endif // STYLE_H_ From 8c1e92fe417dbee42b52fd45bbab580c394ad55e Mon Sep 17 00:00:00 2001 From: Tri Nguyen Date: Sat, 25 May 2024 12:08:54 -0700 Subject: [PATCH 5/7] Example Test for distance module --- src/distance.cpp | 5 +- src/distance.hpp | 4 +- test/distance-test.cpp | 105 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 109 insertions(+), 5 deletions(-) create mode 100644 test/distance-test.cpp diff --git a/src/distance.cpp b/src/distance.cpp index d91237a..12a301b 100644 --- a/src/distance.cpp +++ b/src/distance.cpp @@ -7,8 +7,6 @@ #include "distance.hpp" -#define RADIUS_OF_EARTH 6378.0 - namespace found { distFromEarth SphericalDistanceDeterminationAlgorithm::Run(char *image, Points &p, int imageWidth, int imageHeight) { @@ -49,7 +47,7 @@ Vec3 center) { } decimal SphericalDistanceDeterminationAlgorithm::getDistance(decimal r) { - return RADIUS_OF_EARTH/r; + return radius_/r; } distFromEarth SphericalDistanceDeterminationAlgorithm::solve(Points& pts, @@ -65,4 +63,5 @@ distFromEarth SphericalDistanceDeterminationAlgorithm::solve(Points& pts, return center * h; } + }; diff --git a/src/distance.hpp b/src/distance.hpp index 7c5d4aa..dbae5bb 100644 --- a/src/distance.hpp +++ b/src/distance.hpp @@ -15,7 +15,7 @@ class DistanceDeterminationAlgorithm { public: // Destroys this - virtual ~DistanceDeterminationAlgorithm(); + virtual ~DistanceDeterminationAlgorithm() {}; /** * Computes the distance of the satellite from Earth based on an image of Earth @@ -39,7 +39,7 @@ class DistanceDeterminationAlgorithm { class SphericalDistanceDeterminationAlgorithm : public DistanceDeterminationAlgorithm { public: SphericalDistanceDeterminationAlgorithm(float radius, Camera &cam) : cam_(cam), radius_(radius) {}; - ~SphericalDistanceDeterminationAlgorithm(); + ~SphericalDistanceDeterminationAlgorithm() {}; /** * Place documentation here. Press enter to automatically make a new line diff --git a/test/distance-test.cpp b/test/distance-test.cpp new file mode 100644 index 0000000..a5e132e --- /dev/null +++ b/test/distance-test.cpp @@ -0,0 +1,105 @@ + +#include +#include +#include + +#include "style.hpp" +#include "attitude-utils.hpp" +#include "camera.hpp" + +#include "distance.hpp" + + +/* Using Directives */ +using found::Camera; +using found::Vec3; +using found::Points; +using found::distFromEarth; +using found::decimal; +using found::SphericalDistanceDeterminationAlgorithm; + + +/* Common Constants */ + + +// Radius of Earth (km) +#define RADIUS_OF_EARTH 6378.0 +// Default DoubleEquals Tolerance +#define DEFAULT_TOLERANCE 1e-6 + + +/* Test Macros */ + +/** + * Requires that vec1 == vec2 (using DecimalEquals) + * + * @param vec1 A Vec3 object + * @param vec2 A Vec3 object + * @param tolerance The tolerance for vec1 to be + * "equal" to vec2 + * + * @post Will have REQUIRE'd that vec1 is equal to + * vec2, on a component basis, within tolerance +*/ +#define VECTOR_EQUALS(vec1, vec2, tolerance) \ + REQUIRE(DecimalEquals(vec1.x, vec2.x, tolerance)); \ + REQUIRE(DecimalEquals(vec1.y, vec2.y, tolerance)); \ + REQUIRE(DecimalEquals(vec1.z, vec2.z, tolerance)); + +/** + * Compares 2 decimals to make sure they are "equal" + * + * @param x1 The first decimal to compare + * @param x2 The second decimal to compare + * @param tolerance The maximum allowable error between the two + * + * @return true iff x1 and x2 are the same within tolerance, + * false otherwise +*/ +bool DecimalEquals(decimal x1, decimal x2, decimal tolerance) { + return abs(x1 - x2) < tolerance; +} + +std::ostream &operator<<(std::ostream &stream, const Vec3 &vector) { + stream << "(" << vector.x << ", " << vector.y << ", " << vector.z << ")"; + return stream; +} + +// Base Case I: The image captured contains an edge centered about the image + +TEST_CASE("Base Case I: Entire Circle I") { + // Step I: Pick some distance (km) and a Camera + decimal x_E = RADIUS_OF_EARTH + 1000; + int imageWidth = 1024; + int imageHeight = 1024; + Camera cam(0.012, imageWidth, imageHeight); + distFromEarth expected = {x_E, 0, 0}; + + // Step II: Figure out my projection points + + // a) Find the angle + decimal alpha = asin(RADIUS_OF_EARTH / x_E); + + // b) Find the distance away from each projection point + decimal p = sqrt(x_E * x_E - RADIUS_OF_EARTH * RADIUS_OF_EARTH); + + // c) Use 3 easy projections + Vec3 p1 = {p * cos(alpha), p * sin(alpha), 0}; + Vec3 p2 = {p * cos(alpha), -p * sin(alpha), 0}; + Vec3 p3 = {p * cos(alpha), 0, p * sin(alpha)}; + + // Step III: Use CTS to convert to 2D vectors + Points pts = {cam.SpatialToCamera(p1), + cam.SpatialToCamera(p2), + cam.SpatialToCamera(p3)}; + + // Step IV: Run It and Test! + SphericalDistanceDeterminationAlgorithm algo = + SphericalDistanceDeterminationAlgorithm(RADIUS_OF_EARTH, cam); + + distFromEarth actual = algo.Run(nullptr, pts, imageWidth, imageHeight); + + std::cout << "Actual Result: " << actual << std::endl; + + VECTOR_EQUALS(expected, actual, DEFAULT_TOLERANCE); +} From f48f7aabede2cc2776351ae6beb7ec98c177ca0b Mon Sep 17 00:00:00 2001 From: Tri Nguyen Date: Thu, 17 Oct 2024 16:38:16 -0700 Subject: [PATCH 6/7] Squashed commit of the following: commit 38635095039cd745e0e7bb4ba8438a6a42450019 Author: Hieu Nguyen <143583146+heeu0@users.noreply.github.com> Date: Mon Oct 14 12:11:23 2024 -0700 Pipeline Implementation (#7) * Added return to main * Squashed commit of the following: commit 86a843ff5964be98ba6e300079a5a65bfc49ba24 Author: Tri Nguyen Date: Sat Mar 25 17:24:22 2023 -0700 Update README to viewable version commit 00a9764ca014947686e3c13b7f9192de2a41123a Merge: bc566cb 8eaa5cf Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sat Mar 25 16:37:50 2023 -0700 Merge pull request #2 from UWCubeSat/interface Testing Suite Setup * Squashed commit of the following: commit 7b3c7e194289c0f33698eeb4904cbf1500a6c2df Author: Tri Nguyen Date: Fri Sep 13 10:51:58 2024 -0700 Refractoring Changes commit 86a843ff5964be98ba6e300079a5a65bfc49ba24 Author: Tri Nguyen Date: Sat Mar 25 17:24:22 2023 -0700 Update README to viewable version commit 00a9764ca014947686e3c13b7f9192de2a41123a Merge: bc566cb 8eaa5cf Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sat Mar 25 16:37:50 2023 -0700 Merge pull request #2 from UWCubeSat/interface Testing Suite Setup * Merging from refractor * Pipeline Implementation * Made initial test and edits to pipeline.* * Use constants more * Squashed commit of the following: commit f370c6724b2537febc82e3990560f0887788ed01 Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sat Sep 21 16:21:59 2024 -0700 Refractor v2 (#6) commit 0a466d35086d03552080239be4a7680eb9a8d037 Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sun Sep 15 19:42:02 2024 -0700 Refractor Code Base for Implementation (#5) Merge from pipeline, refractoring changes PR: https://github.com/UWCubeSat/found/pull/5 commit 86a843ff5964be98ba6e300079a5a65bfc49ba24 Author: Tri Nguyen Date: Sat Mar 25 17:24:22 2023 -0700 Update README to viewable version commit 00a9764ca014947686e3c13b7f9192de2a41123a Merge: bc566cb 8eaa5cf Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sat Mar 25 16:37:50 2023 -0700 Merge pull request #2 from UWCubeSat/interface Testing Suite Setup * Removed catch framework * Fixed minor issues * Documentation and Quality Changes * pending tests * pipeline tests 100% coverage, all functions work * Squashed commit of the following: commit 1d2c89ba8c00d410d063d7ab76e5cb13d5333513 Author: Tri Nguyen Date: Sat Oct 5 17:19:22 2024 -0700 Example Test bugs commit adece2b8f593372ba223512850b6122d873229a9 Author: Tri Nguyen Date: Sat Oct 5 17:11:03 2024 -0700 Stage extension for all stages * Revert to C++11 * Resolving Changes --------- Co-authored-by: Tri Nguyen commit f370c6724b2537febc82e3990560f0887788ed01 Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sat Sep 21 16:21:59 2024 -0700 Refractor v2 (#6) commit 0a466d35086d03552080239be4a7680eb9a8d037 Author: Tri Nguyen <93411990+nguy8tri@users.noreply.github.com> Date: Sun Sep 15 19:42:02 2024 -0700 Refractor Code Base for Implementation (#5) Merge from pipeline, refractoring changes PR: https://github.com/UWCubeSat/found/pull/5 # Conflicts: # src/distance/distance.hpp # src/style/style.hpp --- .github/workflows/build.yml | 94 + .github/workflows/close-pr.yml | 38 + .github/workflows/pr-artifacts-link.yml | 48 + .gitignore | 10 +- .vscode/c_cpp_properties.json | 18 - .vscode/settings.json | 63 - CPPLINT.cfg | 6 + Dockerfile | 14 + Doxyfile | 2548 +++ Makefile | 207 +- README.md | 20 +- doxygen.sh | 25 + gcovr.cfg | 14 + install.sh | 105 + libraries/catch.hpp | 17970 ----------------- src/{ => command-line}/options.hpp | 2 +- src/{ => command-line}/other.hpp | 6 +- src/distance.cpp | 67 - src/distance/distance.cpp | 71 + src/{ => distance}/distance.hpp | 84 +- src/{ => distance}/edge.hpp | 44 +- src/{ => distance}/vectorize.hpp | 52 +- src/main.cpp | 32 +- src/{ => model}/kinematic.hpp | 38 +- src/{ => model}/orbit.hpp | 41 +- src/other.cpp | 0 src/pipeline/pipeline.hpp | 202 + src/{ => spatial}/attitude-utils.cpp | 51 +- src/{ => spatial}/attitude-utils.hpp | 80 +- src/{ => spatial}/camera.cpp | 10 +- src/{ => spatial}/camera.hpp | 52 +- src/{ => style}/style.hpp | 52 +- test/common/common.hpp | 4 + test/common/constants/example-constants.hpp | 35 + test/common/constants/pipeline-constants.hpp | 22 + test/common/mocks/example-mocks.hpp | 39 + test/common/mocks/pipeline-mocks.hpp | 13 + test/{ => distance}/distance-test.cpp | 58 +- test/example.cpp | 76 - test/example/example.cpp | 118 + test/main.cpp | 2 - test/pipeline/pipeline-test.cpp | 267 + 42 files changed, 4179 insertions(+), 18519 deletions(-) create mode 100644 .github/workflows/build.yml create mode 100644 .github/workflows/close-pr.yml create mode 100644 .github/workflows/pr-artifacts-link.yml delete mode 100644 .vscode/c_cpp_properties.json delete mode 100644 .vscode/settings.json create mode 100644 CPPLINT.cfg create mode 100644 Dockerfile create mode 100644 Doxyfile create mode 100755 doxygen.sh create mode 100644 gcovr.cfg create mode 100755 install.sh delete mode 100644 libraries/catch.hpp rename src/{ => command-line}/options.hpp (98%) rename src/{ => command-line}/other.hpp (76%) delete mode 100644 src/distance.cpp create mode 100644 src/distance/distance.cpp rename src/{ => distance}/distance.hpp (59%) rename src/{ => distance}/edge.hpp (65%) rename src/{ => distance}/vectorize.hpp (69%) rename src/{ => model}/kinematic.hpp (78%) rename src/{ => model}/orbit.hpp (72%) delete mode 100644 src/other.cpp create mode 100644 src/pipeline/pipeline.hpp rename src/{ => spatial}/attitude-utils.cpp (95%) rename src/{ => spatial}/attitude-utils.hpp (78%) rename src/{ => spatial}/camera.cpp (95%) rename src/{ => spatial}/camera.hpp (67%) rename src/{ => style}/style.hpp (69%) create mode 100644 test/common/common.hpp create mode 100644 test/common/constants/example-constants.hpp create mode 100644 test/common/constants/pipeline-constants.hpp create mode 100644 test/common/mocks/example-mocks.hpp create mode 100644 test/common/mocks/pipeline-mocks.hpp rename test/{ => distance}/distance-test.cpp (58%) delete mode 100644 test/example.cpp create mode 100644 test/example/example.cpp delete mode 100644 test/main.cpp create mode 100644 test/pipeline/pipeline-test.cpp diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..c1047cd --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,94 @@ +name: Build, Test, Lint, Coverage, and Documentation +on: + push: + branches: [ "main" ] + pull_request: + branches: ["main"] + types: + - opened + - synchronize + - reopened + +jobs: + build: + runs-on: ubuntu-latest + container: nguy8tri/huskysat:latest + + steps: + - uses: actions/checkout@v4 + + - name: Build all (Twice) + run: (make compile || make compile) + + test: + runs-on: ubuntu-latest + container: nguy8tri/huskysat:latest + + steps: + - uses: actions/checkout@v4 + + - name: Test (Twice) + run: (make test || make test) + + lint: + runs-on: ubuntu-latest + container: nguy8tri/huskysat:latest + steps: + - uses: actions/checkout@v4 + + - name: Stylecheck + run: make google_stylecheck + + - name: Test Stylecheck + run: make google_stylecheck_test + + - name: Line Endings + uses: erclu/check-crlf@v1 + + coverage: + runs-on: ubuntu-latest + container: nguy8tri/huskysat:latest + steps: + - uses: actions/checkout@v4 + + - name: Coverage (Twice) + run: (make coverage || make coverage) + + - name: Upload Coverage Report + uses: actions/upload-artifact@v4 + with: + name: Coverage Report + path: build/documentation/coverage + + documentation: + runs-on: ubuntu-latest + container: nguy8tri/huskysat:latest + needs: [build, lint, coverage] + steps: + - uses: actions/checkout@v4 + + - name: Coverage + run: make coverage + + - name: Doxygen + run: make doxygen_generate + + - name: Install rsync + run: apt install -y rsync + + - name: Set Target Folder in documentation + id: set-folder + run: | + if [ "${{ github.ref_name }}" = "main" ]; then + echo "TARGET_FOLDER=." >> $GITHUB_ENV + else + echo "TARGET_FOLDER=${{ github.ref_name }}" >> $GITHUB_ENV + fi + shell: bash + + - name: Upload Pages Artifact + uses: JamesIves/github-pages-deploy-action@v4 + with: + branch: documentation + folder: build/documentation/ + target-folder: ${{ env.TARGET_FOLDER }} \ No newline at end of file diff --git a/.github/workflows/close-pr.yml b/.github/workflows/close-pr.yml new file mode 100644 index 0000000..1e3ad93 --- /dev/null +++ b/.github/workflows/close-pr.yml @@ -0,0 +1,38 @@ +name: Cleanup PR + +on: + pull_request: + types: + - closed + +jobs: + cleanup: + runs-on: ubuntu-latest + + steps: + - name: Checkout code + uses: actions/checkout@v4 + with: + ref: documentation + + - name: Delete coverage/documentation for ${{ github.event.pull_request.number }} from documentation branch + run: | + folder_to_delete="${{ github.event.pull_request.number }}/merge" + echo "Deleting folder: $folder_to_delete from documentation" + rm -rf "$folder_to_delete" + git rm -r "$folder_to_delete" || true + + - name: Configure Git for Pushing Deletion change + run: | + git config user.name "github-actions[bot]" + git config user.email "github-actions[bot]@users.noreply.github.com" + + - name: Commit Deletion Change + run: | + git add -A + pr="${{ github.event.pull_request.number }}" + git commit -m "Remove folder ${pr}/merge from documentation branch because PR ${pr} is closed" + + - name: Pushing Deletion Change + run: | + git push origin documentation \ No newline at end of file diff --git a/.github/workflows/pr-artifacts-link.yml b/.github/workflows/pr-artifacts-link.yml new file mode 100644 index 0000000..482437d --- /dev/null +++ b/.github/workflows/pr-artifacts-link.yml @@ -0,0 +1,48 @@ +name: Update PR Description with Build Artifacts + +on: + pull_request: + branches: [ "main" ] + types: [opened, edited, synchronize] + +jobs: + update-description: + runs-on: ubuntu-latest + + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Get PR number + id: get-pr-number + run: echo "PR_NUMBER=${{ github.event.pull_request.number }}" >> $GITHUB_ENV + + - name: Update PR description + uses: actions/github-script@v7 + with: + script: | + const prNumber = process.env.PR_NUMBER; + const prFooter = `# Artifacts for PR #${prNumber} (DO NOT CHANGE)`; + const artifactLinks = `- [Coverage Artifact](https://uwcubesat.github.io/found/${prNumber}/merge/coverage)\n` + + `- [Doxygen Artifact](https://uwcubesat.github.io/found/${prNumber}/merge/doxygen)\n`; + + const { data: pr } = await github.rest.pulls.get({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + }); + + // Check if both artifact links are already present in the PR body + if (pr.body.includes("Artifacts for PR")) { + console.log('PR description already has documentation artifacts'); + } else { + const newPrBody = `# Description\n${pr.body}\n\n${prFooter}\n${artifactLinks.trim()}`; + + await github.rest.pulls.update({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + body: newPrBody, + }); + console.log('PR description updated with documentation artifacts'); + } diff --git a/.gitignore b/.gitignore index 7f94548..cf1df8a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,8 @@ -*.o +# Don't include the build folder +build -found -found-test \ No newline at end of file +# Don't include personal .vscode settings +.vscode + +# Don't include google test stuff +googletest* \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json deleted file mode 100644 index c751ee1..0000000 --- a/.vscode/c_cpp_properties.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "configurations": [ - { - "name": "Linux", - "includePath": [ - "${workspaceFolder}/**", - "${workspaceFolder}/src", - "${workspaceFolder}/libraries" - ], - "defines": [], - "compilerPath": "/usr/bin/clang", - "cStandard": "c17", - "cppStandard": "c++14", - "intelliSenseMode": "linux-clang-x64" - } - ], - "version": 4 -} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 1f823fc..0000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,63 +0,0 @@ -{ - "files.associations": { - "typeinfo": "cpp", - "array": "cpp", - "atomic": "cpp", - "bit": "cpp", - "*.tcc": "cpp", - "cctype": "cpp", - "clocale": "cpp", - "cmath": "cpp", - "cstdarg": "cpp", - "cstddef": "cpp", - "cstdint": "cpp", - "cstdio": "cpp", - "cstdlib": "cpp", - "cwchar": "cpp", - "cwctype": "cpp", - "deque": "cpp", - "unordered_map": "cpp", - "vector": "cpp", - "exception": "cpp", - "algorithm": "cpp", - "functional": "cpp", - "iterator": "cpp", - "memory": "cpp", - "memory_resource": "cpp", - "numeric": "cpp", - "optional": "cpp", - "random": "cpp", - "string": "cpp", - "string_view": "cpp", - "system_error": "cpp", - "tuple": "cpp", - "type_traits": "cpp", - "utility": "cpp", - "fstream": "cpp", - "initializer_list": "cpp", - "iosfwd": "cpp", - "iostream": "cpp", - "istream": "cpp", - "limits": "cpp", - "new": "cpp", - "ostream": "cpp", - "sstream": "cpp", - "stdexcept": "cpp", - "streambuf": "cpp", - "bitset": "cpp", - "chrono": "cpp", - "condition_variable": "cpp", - "cstring": "cpp", - "ctime": "cpp", - "map": "cpp", - "set": "cpp", - "ratio": "cpp", - "regex": "cpp", - "future": "cpp", - "iomanip": "cpp", - "mutex": "cpp", - "shared_mutex": "cpp", - "thread": "cpp", - "variant": "cpp" - } -} \ No newline at end of file diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000..53db99d --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,6 @@ +filter= -legal/copyright +filter= -readability/todo +filter= -whitespace/comma +filter= -runtime/references +filter= -build/header_guard +linelength=120 \ No newline at end of file diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..68543b7 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,14 @@ +FROM ubuntu:latest +RUN apt update +RUN apt -y upgrade +RUN apt install -y git +RUN apt install -y g++ +RUN apt install -y cmake +RUN apt install -y wget +RUN apt install -y tar +RUN apt install -y valgrind +RUN apt install -y python3 +RUN apt install -y cpplint +RUN apt install -y gcovr +RUN apt install -y doxygen +RUN apt install -y graphviz \ No newline at end of file diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 0000000..9f29c71 --- /dev/null +++ b/Doxyfile @@ -0,0 +1,2548 @@ +# Doxyfile 1.8.17 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "My Project" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = build/documentation/doxygen + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all generated output in the proper direction. +# Possible values are: None, LTR, RTL and Context. +# The default value is: None. + +OUTPUT_TEXT_DIRECTION = None + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat +# .inc files as Fortran files (default is PHP), and .f files as C (default is +# Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# (including Cygwin) ands Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = src + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: https://www.gnu.org/software/libiconv/) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), +# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen +# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.doc \ + *.txt \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f \ + *.for \ + *.tcl \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = ./ + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: https://developer.apple.com/xcode/), introduced with OSX +# 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /