navtk 2.1.0.post6.dev0__tar.gz → 2.1.0.post7.dev0__tar.gz

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/.github/workflows/test.yml

@@ -90,7 +90,12 @@ jobs:
               restore-keys: ccache--arm64-ubuntu-noble--
 
           - name: Build
-            run: docker/docker_interface.py build ubuntu-noble
+            run: |
+              set -xe
+              # Manually reconfigure to set a higher test timeout
+              rm -rf docker/build/ubuntu_noble
+              docker/docker_interface.py debug ubuntu-noble "meson setup docker/build/ubuntu_noble --warnlevel=3 -Dwerror=true -Db_sanitize=address,undefined --buildtype=release -Dtest_timeout=360"
+              docker/docker_interface.py build ubuntu-noble
 
           - name: Save ccache cache
             uses: actions/cache/save@v4

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/NOTICE

@@ -9,11 +9,6 @@ You may obtain a copy of the License at
 
 --
 
-The file util/mkdoc.py is a modified version of a file distributed by the
-pybind11 project. The original code is licensed under the terms given by the
-pybind11 project at https://github.com/pybind/pybind11_mkdoc.
-
---
 
 The file util/ghwt.py is distributed by the meson project.  The original code is
 licensed under the terms given by the project at

navtk-2.1.0.post7.dev0/PKG-INFO

@@ -0,0 +1,16 @@
+Metadata-Version: 2.4
+Name: navtk
+Version: 2.1.0.post7.dev0
+Summary: NavToolkit Python Bindings
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Dist: numpy
+Description-Content-Type: text/markdown
+
+# NavToolkit
+
+This Python module contains bindings for the [NavToolkit
+project](https://github.com/is4s/NavToolkit), a C++ library containing various navigation algorithms
+and utilities.
+
+For more information, see the [NavToolkit documentation](https://is4s.github.io/NavToolkit/).

navtk-2.1.0.post7.dev0/README_PYTHON_PACKAGE.md

@@ -0,0 +1,7 @@
+# NavToolkit
+
+This Python module contains bindings for the [NavToolkit
+project](https://github.com/is4s/NavToolkit), a C++ library containing various navigation algorithms
+and utilities.
+
+For more information, see the [NavToolkit documentation](https://is4s.github.io/NavToolkit/).

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docker/Dockerfile.ubuntu

@@ -2,12 +2,11 @@ ARG BASE=ubuntu:24.04
 
 # -------------------------------------------------------------------------------
 FROM ${BASE}
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+ENV OPENSSL_FORCE_FIPS_MODE=0
 
 # build-essential: For compiling code
 # ccache: For CI machines to decrease compile times
-# clang: For running the naming rules check
-# clang-format: For formatting source code
 # doxygen: For building project documentation
 # doxygen-latex: For building project documentation
 # git: For fetching subprojects from the internet
@@ -18,8 +17,6 @@ ENV DEBIAN_FRONTEND noninteractive
 # ninja-build: For compiling code
 # openssh-client: For ssh when using this container for development
 # pkg-config: For Meson to discover installed libraries while compiling
-# python3-clang: For running the naming rules check
-# python3-inflection: For util/process_file_naming.py
 # python3-matplotlib: For displaying graphs when running Python examples
 # python3-numpy: For running the Python examples
 # python3-pip: For installing pip packages (see requirements.txt)
@@ -32,8 +29,6 @@ ENV DEBIAN_FRONTEND noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential \
     ccache \
-    clang \
-    clang-format* \
     doxygen \
     doxygen-latex \
     git \
@@ -44,8 +39,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ninja-build \
     openssh-client \
     pkg-config \
-    python3-clang \
-    python3-inflection \
     python3-matplotlib \
     python3-numpy \
     python3-pip \
@@ -55,7 +48,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     texlive-base \
     texlive-font-utils \
     vim \
-&& rm -rf /var/lib/apt/lists/*
+    && rm -rf /var/lib/apt/lists/*
 
 # Create a venv
 RUN mkdir /venv && python3 -m venv /venv --system-site-packages

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docker/Dockerfile.ubuntu-cross

@@ -2,7 +2,7 @@ ARG BASE=ubuntu:20.04
 
 # -------------------------------------------------------------------------------
 FROM ${BASE}
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
 
 # ccache: For CI machines to decrease compile times
 # cmake: To build LCM subproject
@@ -46,7 +46,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # meson: Build system
 # cxxheaderparser: Supports extracting docstrings from headers for reuse in Python docstrings.
 # pybind11-stubgen: Supports generating stub files (Python typing) from the Python module.
-RUN pip3 install meson==1.8.4 cxxheaderparser==1.6.0 pybind11-stubgen==2.5.5
+RUN pip3 install meson==1.8.4 cxxheaderparser==1.8.1 pybind11-stubgen==2.5.5
 
 # Add ARM architectures to dpkg and apt sources.list
 RUN . /etc/os-release \

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docker/docker_interface.py

@@ -33,6 +33,7 @@ from os import (
     chown,
     stat,
 )
+from shlex import quote
 from subprocess import check_call, CalledProcessError
 import argparse
 
@@ -589,7 +590,17 @@ def main():
         args = parser.parse_args(['--help'])
 
     # Call the function in this file that user specified as an argument
-    args.func(args)
+    try:
+        args.func(args)
+    except CalledProcessError as cpe:
+        print(flush=True)
+        print(
+            f'Subcommand `{" ".join(quote(x) for x in cpe.cmd)}` '
+            f'returned non-zero exit status {cpe.returncode}',
+            file=sys.stderr,
+            flush=True,
+        )
+        sys.exit(cpe.returncode)
 
 
 if __name__ == '__main__':

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docker/requirements.txt

@@ -4,13 +4,17 @@ black==22.8.0
 breathe==4.34.0
 # Build is necessary to create Python source distributions.
 build==1.2.2.post1
+# For formatting C/C++ source code
+clang-format==22.1.5
 # Supports extracting docstrings from headers for reuse in Python docstrings.
-cxxheaderparser==1.6.0
+cxxheaderparser==1.8.1
 # docutils is a dependency of Sphinx.
 # Pinned to 0.17.1 because Sphinx 4.5.0 requires <0.18
 docutils==0.17.1
 # Exhale is an automatic C++ library API documentation generator using Doxygen, Sphinx, and Breathe
 exhale==0.3.5
+# inflection is used for patterns in check_naming.py
+inflection==0.5.1
 # matplotlib is a Python plotting package used by the examples
 matplotlib==3.10.5
 # Meson is a high performance build system
@@ -43,7 +47,7 @@ sphinxcontrib-serializinghtml==1.1.5
 # Read the Docs theme for Sphinx
 sphinx-rtd-theme==1.3.0
 # Twine is necessary for uploading wheels and source distributions to a registry.
-twine==6.1.0
+twine==6.0.1
 # urllib3 is an HTTP library with thread-safe connection pooling, file post, and more.
 # Pinned to 1.26.15 because versions after 2.0 require newer Python ssl module than
 # all of our platforms have available.

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docs/src/vsb_typical_application.cpp

@@ -8,20 +8,20 @@ int main() {
 	auto timestamp = aspn_xtensor::TypeTimestamp(int64_t(0));
 	auto header = aspn_xtensor::TypeHeader(ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE, 0, 0, 0, 0);
 	auto pva    = aspn_xtensor::MeasurementPositionVelocityAttitude(
-        header,
-        timestamp,
-        ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        {},
-        {},
-        ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_ERROR_MODEL_NONE,
-        {},
-        {});
+	    header,
+	    timestamp,
+	    ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC,
+	    0,
+	    0,
+	    0,
+	    0,
+	    0,
+	    0,
+	    {},
+	    {},
+	    ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_ERROR_MODEL_NONE,
+	    {},
+	    {});
 
 	// Create a dummy inertial
 	auto ins = navtk::inertial::BufferedImu(pva);

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/docs/src/vsb_whole_state_error_state.cpp

@@ -8,20 +8,20 @@ int main() {
 	auto timestamp = aspn_xtensor::TypeTimestamp(int64_t(0));
 	auto header = aspn_xtensor::TypeHeader(ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE, 0, 0, 0, 0);
 	auto pva    = aspn_xtensor::MeasurementPositionVelocityAttitude(
-        header,
-        timestamp,
-        ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        {},
-        {},
-        ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_ERROR_MODEL_NONE,
-        {},
-        {});
+	    header,
+	    timestamp,
+	    ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC,
+	    0,
+	    0,
+	    0,
+	    0,
+	    0,
+	    0,
+	    {},
+	    {},
+	    ASPN_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_ERROR_MODEL_NONE,
+	    {},
+	    {});
 
 	// BEGIN
 	// Assume we have a starting MeasurementPositionVelocityAttitude 'pva' previously calculated

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/examples/bias_with_update/BiasMeasurementProcessor.hpp

@@ -13,7 +13,7 @@ class BiasMeasurementProcessor : public navtk::filtering::MeasurementProcessor<>
 public:
 	navtk::Matrix measurement_matrix;
 
-	BiasMeasurementProcessor(std::string label, const std::string &state_block_label)
+	BiasMeasurementProcessor(std::string label, const std::string& state_block_label)
 	    : MeasurementProcessor(std::move(label), state_block_label),
 	      measurement_matrix(navtk::Matrix{{1.0}}) {}
 

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/examples/utils/exampleutils.cpp

@@ -32,10 +32,10 @@ namespace exampleutils {
 vector<NavSolution> constant_vel_pva(NavSolution start_pva, double dt, double stop_time) {
 	unsigned int n         = stop_time / dt;
 	double heading         = atan2(start_pva.vel[1], start_pva.vel[0]);
-	auto dcm_head          = xt::transpose(rpy_to_dcm({{0.0, 0.0, heading}}));
+	auto dcm_head          = xt::transpose(rpy_to_dcm({0.0, 0.0, heading}));
 	auto nav_vel           = dcm_head * start_pva.vel;
 	double pitch           = atan2(-nav_vel[2], nav_vel[0]);
-	auto C_nav_to_platform = xt::transpose(rpy_to_dcm({{0.0, pitch, heading}}));
+	auto C_nav_to_platform = xt::transpose(rpy_to_dcm({0.0, pitch, heading}));
 
 	vector<NavSolution> pvas;
 	for (unsigned int i = 0; i < n; i++) {

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/examples/utils/exampleutils.hpp

@@ -36,9 +36,9 @@ std::vector<filtering::NavSolution> constant_vel_pva(filtering::NavSolution star
  * @return 3 x n Matrix of position measurements. The first row will be latitude in radians, the
  * second row longitude in radians, and the third altitude, m HAE.
  */
-Matrix noisy_pos_meas(const std::vector<filtering::NavSolution> &truth,
-                      const Vector &sigma = zeros(3),
-                      const Matrix &err   = zeros(0, 0));
+Matrix noisy_pos_meas(const std::vector<filtering::NavSolution>& truth,
+                      const Vector& sigma = zeros(3),
+                      const Matrix& err   = zeros(0, 0));
 
 /**
  * Generate a set of corrupted altitude measurements.
@@ -50,9 +50,9 @@ Matrix noisy_pos_meas(const std::vector<filtering::NavSolution> &truth,
  *
  * @return n length Vector of altitude measurements, m HAE.
  */
-Vector noisy_alt_meas(const std::vector<filtering::NavSolution> &truth,
+Vector noisy_alt_meas(const std::vector<filtering::NavSolution>& truth,
                       double sigma      = 0.0,
-                      const Vector &err = zeros(0));
+                      const Vector& err = zeros(0));
 
 /**
  * Generate a set of uncorrelated corrupted velocity measurements.
@@ -64,9 +64,9 @@ Vector noisy_alt_meas(const std::vector<filtering::NavSolution> &truth,
  *
  * @return 3 x n Matrix of NED velocity measurements, in m/s.
  */
-Matrix noisy_vel_meas(const std::vector<filtering::NavSolution> &truth,
-                      const Vector &sigma = zeros(3),
-                      const Matrix &err   = zeros(0, 0));
+Matrix noisy_vel_meas(const std::vector<filtering::NavSolution>& truth,
+                      const Vector& sigma = zeros(3),
+                      const Matrix& err   = zeros(0, 0));
 
 /**
  * Generate a set of uncorrelated corrupted attitude measurements (DCMs, nav to platform).
@@ -78,9 +78,9 @@ Matrix noisy_vel_meas(const std::vector<filtering::NavSolution> &truth,
  *
  * @return n length vector of 3x3 nav-to-platform DCMs.
  */
-std::vector<Matrix> noisy_att_meas(const std::vector<filtering::NavSolution> &truth,
-                                   const Vector &tilt_sigma = zeros(3),
-                                   const Matrix &tilts      = zeros(0, 0));
+std::vector<Matrix> noisy_att_meas(const std::vector<filtering::NavSolution>& truth,
+                                   const Vector& tilt_sigma = zeros(3),
+                                   const Matrix& tilts      = zeros(0, 0));
 
 }  // namespace exampleutils
 }  // namespace navtk

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/meson.build

@@ -1,7 +1,7 @@
 project('navtoolkit', 'cpp',
     default_options: ['cpp_std=c++20', 'backend_max_links=4', 'cpp_args=-DGLIBCXX_ASSERTIONS=1'],
     meson_version: '>=1.8.4',
-    version: '2.1.0-6.dev')
+    version: '2.1.0-7.dev')
 
 python = import('python').find_installation('python3')
 python_version = python.language_version()
@@ -319,14 +319,13 @@ foreach src_dir : src_dirs
   endforeach
 endforeach
 
-clang_format_ok_versions = ['>=18.0', '<19.0']
-clang_format_dep = find_program('clang-format-18', 'clang-format',
-                                required: false,
-                                version: clang_format_ok_versions)
-if clang_format_dep.found()
-    run_target('format', command: [clang_format_dep, '-style=file', '--verbose', '-i'] + files_to_format)
+python_with_clang_format = import('python').find_installation('python3',
+                                                        modules: ['clang_format'],
+                                                        required: false)
+if python_with_clang_format.found()
+    run_target('format', command: [python_with_clang_format, '-c', 'from clang_format import clang_format; clang_format()', '-style=file', '--verbose', '-i'] + files_to_format)
 else
-    run_target('format', command: [python, '-c', 'import sys; print("`format` is disabled because clang-format %r does not appear to be installed. Consider using docker_interface.py to format your code." % sys.argv[1:])'] + clang_format_ok_versions)
+    run_target('format', command: [python, '-c', 'import sys; print("`format` is disabled because clang-format does not appear to be installed.'])
 endif
 
 black_dep = find_program('black', required: false)

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/pyproject.toml

@@ -5,7 +5,7 @@ requires = [
     'meson==1.8.4',
     'numpy',
     'pybind11-stubgen>=2.5.5',
-    'cxxheaderparser==1.6.0',
+    'cxxheaderparser==1.8.1',
 ]
 build-backend = 'mesonpy'
 
@@ -28,6 +28,9 @@ dependencies = ['numpy']
 name = 'navtk'
 dynamic = ['version']
 description = 'NavToolkit Python Bindings'
+license = 'Apache-2.0'
+license-files = ['LICENSE']
+readme = 'README_PYTHON_PACKAGE.md'
 
 [tool.cibuildwheel.linux]
 before-all = "yum install openblas-devel -y"

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/src/bindings/python/binding_helpers.hpp

@@ -42,20 +42,20 @@ struct type_caster<navtk::not_null<T>> {
 namespace py = pybind11;
 
 // Used to add a namespace inside the top navtk namespace
-#define ADD_NAMESPACE(M, NAME)                            \
-	{                                                     \
-		auto submod = M.def_submodule(#NAME);             \
-		void add_##NAME##_functions(pybind11::module& m); \
-		add_##NAME##_functions(submod);                   \
+#define ADD_NAMESPACE(M, NAME)                             \
+	{                                                      \
+		auto submod = M.def_submodule(#NAME);              \
+		void add_##NAME##_functions(pybind11::module & m); \
+		add_##NAME##_functions(submod);                    \
 	}
 // Same as ADD_NAMESPACE but for a namespace nested inside a child of navtk namespace.
 // The only difference between this and ADD_NAMESPACE is the name of the function containing
 // bindings for this subnamespace.
-#define ADD_SUBNAMESPACE(M, SUBNAMESPACE, NAMESPACE)                            \
-	{                                                                           \
-		auto submod = M.def_submodule(#SUBNAMESPACE);                           \
-		void add_##NAMESPACE##_##SUBNAMESPACE##_functions(pybind11::module& m); \
-		add_##NAMESPACE##_##SUBNAMESPACE##_functions(submod);                   \
+#define ADD_SUBNAMESPACE(M, SUBNAMESPACE, NAMESPACE)                             \
+	{                                                                            \
+		auto submod = M.def_submodule(#SUBNAMESPACE);                            \
+		void add_##NAMESPACE##_##SUBNAMESPACE##_functions(pybind11::module & m); \
+		add_##NAMESPACE##_##SUBNAMESPACE##_functions(submod);                    \
 	}
 
 // Used to pass parameter types by grouping a comma-separated collection of arguments to be passed
@@ -175,6 +175,9 @@ namespace py = pybind11;
 // each function would need a `using NS::function;` statement, but with this macro a spacespace
 // alias can be defined and passed as an argument instead.
 #define NAMESPACE_FUNCTION(NAME, NS, ...) m.def(#NAME, &NS::NAME, PROCESS_DOC(NAME), __VA_ARGS__);
+// Same as NAMESPACE_FUNCTION but for templated functions.
+#define NAMESPACE_FUNCTIONT(NAME, NS, TYPES, ...) \
+	m.def(#NAME, &NS::NAME<TYPES>, PROCESS_DOC(NAME), __VA_ARGS__);
 // Same as NAMESPACE_FUNCTION but for functions that are multiply defined.
 #define NAMESPACE_FUNCTION_OVERLOAD(NAME, NS, CASTTYPE, DOC_SUFFIX, ...) \
 	m.def(#NAME,                                                         \

{navtk-2.1.0.post6.dev0 → navtk-2.1.0.post7.dev0}/src/bindings/python/exampleutils.cpp

@@ -10,7 +10,7 @@ using namespace pybind11::literals;
 namespace ex = navtk::exampleutils;
 
 
-void add_exampleutils_functions(pybind11::module &m) {
+void add_exampleutils_functions(pybind11::module& m) {
 	m.doc() = "Bindings to the Example Utilities";
 
 	NAMESPACE_FUNCTION(constant_vel_pva, ex, "start_pva"_a, "dt"_a, "stop_time"_a);