Merge remote-tracking branch 'remote2/develop' into develop

docs/module-mola-yaml.rst

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+.. _mola-yaml:
+
+====================
+Module: mola-yaml
+====================
+
+YAML helper C++ library common to all MOLA modules, released under BSD-3-Clause.
+
+This module implements the YAML extensions explained in: :ref:`yaml_slam_cfg_file`.

mola_yaml/.clang-format

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+Language:        Cpp
+BasedOnStyle: Google
+# ---
+#AccessModifierOffset: -4
+AlignAfterOpenBracket: AlwaysBreak # Values: Align, DontAlign, AlwaysBreak
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+#AlignEscapedNewlinesLeft: true
+#AlignOperands:   false
+AlignTrailingComments: false # Should be off, causes many dummy problems!!
+#AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: true
+#AllowShortCaseLabelsOnASingleLine: false
+#AllowShortFunctionsOnASingleLine: Empty
+#AllowShortIfStatementsOnASingleLine: false
+#AllowShortLoopsOnASingleLine: false
+#AlwaysBreakAfterDefinitionReturnType: None
+#AlwaysBreakAfterReturnType: None
+#AlwaysBreakBeforeMultilineStrings: true
+#AlwaysBreakTemplateDeclarations: true
+#BinPackArguments: false
+#BinPackParameters: false
+#BraceWrapping:
+  #AfterClass:      false
+  #AfterControlStatement: false
+  #AfterEnum:       false
+  #AfterFunction:   false
+  #AfterNamespace:  false
+  #AfterObjCDeclaration: false
+  #AfterStruct:     false
+  #AfterUnion:      false
+  #BeforeCatch:     false
+  #BeforeElse:      true
+  #IndentBraces:    false
+#BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Allman
+#BreakBeforeTernaryOperators: true
+#BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 80
+#CommentPragmas:  ''
+#ConstructorInitializerAllOnOneLineOrOnePerLine: true
+#ConstructorInitializerIndentWidth: 4
+#ContinuationIndentWidth: 4
+#Cpp11BracedListStyle: true
+#DerivePointerAlignment: false
+#DisableFormat:   false
+#ExperimentalAutoDetectBinPacking: false
+##FixNamespaceComments: true # Not applicable in 3.8
+#ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+#IncludeCategories:
+  #- Regex:           '.*'
+    #Priority:        1
+IndentCaseLabels: true
+IndentWidth:     4
+IndentWrappedFunctionNames: true
+#KeepEmptyLinesAtTheStartOfBlocks: true
+#MacroBlockBegin: ''
+#MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+#PenaltyBreakBeforeFirstCallParameter: 19
+#PenaltyBreakComment: 300
+#PenaltyBreakFirstLessLess: 120
+#PenaltyBreakString: 1000
+#PenaltyExcessCharacter: 1000000
+#PenaltyReturnTypeOnItsOwnLine: 200
+DerivePointerAlignment: false
+#PointerAlignment: Left
+ReflowComments:  true # Should be true, otherwise clang-format doesn't touch comments
+SortIncludes:    true
+#SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+#SpaceBeforeParens: ControlStatements
+#SpaceInEmptyParentheses: false
+#SpacesBeforeTrailingComments: 2
+#SpacesInAngles:  false
+#SpacesInContainerLiterals: true
+#SpacesInCStyleCastParentheses: false
+#SpacesInParentheses: false
+#SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never # Available options are Never, Always, ForIndentation

mola_yaml/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_yaml
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.2 (2023-09-08)
+------------------
+* Fix package name in docs
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.1 (2023-09-02)
+------------------
+
+0.2.0 (2023-08-24)
+------------------
+* First public release as ROS 2 package.

mola_yaml/CMakeLists.txt

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+# ------------------------------------------------------------------------------
+#        A Modular Optimization framework for Localization and mApping
+#                               (MOLA)
+#
+# Copyright (C) 2018-2023, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
+# All rights reserved.
+# Released under GNU GPL v3. See LICENSE file
+# ------------------------------------------------------------------------------
+
+# Minimum CMake vesion: limited by CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
+cmake_minimum_required(VERSION 3.4)
+
+# Tell CMake we'll use C++ for use in its tests/flags
+project(mola_yaml LANGUAGES CXX)
+
+# MOLA CMake scripts: "mola_xxx()"
+find_package(mola_common REQUIRED)
+
+# find dependencies:
+find_package(MRPT 2.1.0 REQUIRED COMPONENTS containers system)
+
+# define lib:
+file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
+file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+
+# Use C++17 filesystem lib:
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+find_package(Filesystem REQUIRED)
+
+mola_add_library(
+	TARGET ${PROJECT_NAME}
+	SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
+	PUBLIC_LINK_LIBRARIES
+		mrpt::containers
+	PRIVATE_LINK_LIBRARIES
+		mrpt::system
+		CXX::Filesystem  # the C++>=17 std lib
+	CMAKE_DEPENDENCIES
+		mrpt-containers
+		mrpt-system
+)
+
+# -----------------------
+# define tests:
+enable_testing()
+add_subdirectory(tests)

mola_yaml/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2021, The MOLA SLAM framework
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

mola_yaml/README.md

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+# mola_yaml
+YAML helper library common to MOLA modules. A C++ library to parse YAML files with extended syntax allowing variable replacing, recursive `include`s of other YAML files, etc. 
+
+## Build and install
+Refer to the [root MOLA repository](https://github.com/MOLAorg/mola).
+
+## Docs and examples
+See this package page [in the documentation](https://docs.mola-slam.org/latest/modules.html).
+
+## License
+This package is released under the BSD-3 license.

mola_yaml/cmake/FindFilesystem.cmake

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+# This is from https://github.com/vector-of-bool/pitchfork/blob/develop/cmake/FindFilesystem.cmake
+
+include(CMakePushCheckState)
+include(CheckIncludeFileCXX)
+include(CheckCXXSourceCompiles)
+
+cmake_push_check_state(RESET)
+
+# this seems not to affect check_cxx_source_compiles()...
+set(CMAKE_CXX_STANDARD 17)
+
+if (CMAKE_COMPILER_IS_GNUCXX OR (${CMAKE_CXX_COMPILER_ID}  STREQUAL "Clang"))
+    set(CMAKE_REQUIRED_LINK_OPTIONS -std=c++17)
+    set(CMAKE_REQUIRED_FLAGS -std=c++17)
+endif()
+
+set(have_fs FALSE)
+
+check_include_file_cxx("filesystem" HAVE_STD_FILESYSTEM)
+check_include_file_cxx("experimental/filesystem" HAVE_STD_EXPERIMENTAL_FILESYSTEM)
+
+if(HAVE_STD_FILESYSTEM)
+    set(have_fs TRUE)
+    set(header filesystem)
+    set(namespace std::filesystem)
+elseif(HAVE_STD_EXPERIMENTAL_FILESYSTEM)
+    set(have_fs TRUE)
+    set(header experimental/filesystem)
+    set(namespace std::experimental::filesystem)
+endif()
+
+string(CONFIGURE [[
+    #include <@header@>
+
+    int main() {
+        auto cwd = @namespace@::current_path();
+        return cwd.string().size();
+    }
+]] code @ONLY)
+
+check_cxx_source_compiles("${code}" CAN_COMPILE_FS_WITHOUT_LINK)
+
+if(NOT CAN_COMPILE_FS_WITHOUT_LINK)
+    set(CMAKE_REQUIRED_LIBRARIES -lstdc++fs)
+    check_cxx_source_compiles("${code}" CAN_COMPILE_FS_WITH_LINK)
+endif()
+
+cmake_pop_check_state()
+
+if(have_fs)
+    add_library(CXX::Filesystem INTERFACE IMPORTED)
+    if(NOT ${CMAKE_VERSION} VERSION_LESS "3.16.0")
+        target_compile_definitions(CXX::Filesystem INTERFACE STD_FS_IS_EXPERIMENTAL=$<NOT:$<BOOL:${HAVE_STD_FILESYSTEM}>>)
+    else()
+        set_property(TARGET CXX::Filesystem APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS STD_FS_IS_EXPERIMENTAL=$<NOT:$<BOOL:${HAVE_STD_FILESYSTEM}>>)
+    endif()
+
+    if(CAN_COMPILE_FS_WITHOUT_LINK)
+        # Nothing to add...
+    elseif(CAN_COMPILE_FS_WITH_LINK)
+        if(NOT ${CMAKE_VERSION} VERSION_LESS "3.16.0")
+            target_link_libraries(CXX::Filesystem INTERFACE -lstdc++fs)
+        else()
+            set_property(TARGET CXX::Filesystem APPEND PROPERTY INTERFACE_LINK_LIBRARIES stdc++fs)
+        endif()
+    else()
+        message(WARNING "Failed to link a filesystem library, although we found the headers...?")
+    endif()
+    set(Filesystem_FOUND TRUE CACHE BOOL "" FORCE)
+else()
+    set(Filesystem_FOUND FALSE CACHE BOOL "" FORCE)
+    if(Filesystem_FIND_REQUIRED)
+        message(FATAL_ERROR "No C++ support for std::filesystem")
+    endif()
+endif()

mola_yaml/include/mola_yaml/macro_helpers.h

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+/* -------------------------------------------------------------------------
+ *   A Modular Optimization framework for Localization and mApping  (MOLA)
+ * Copyright (C) 2018-2023 Jose Luis Blanco, University of Almeria
+ * See LICENSE for license information.
+ * ------------------------------------------------------------------------- */
+/**
+ * @file   macro_helpers.h
+ * @brief  C preprocessor helpers
+ * @author Jose Luis Blanco Claraco
+ * @date   Jan 11, 2019
+ */
+#pragma once
+
+// The following is taken from a great answer here:
+// https://stackoverflow.com/a/26408195/1631514
+
+// get number of arguments with MOLA_NARG
+#define MOLA_NARG(...) MOLA_NARG_I_(__VA_ARGS__, MOLA_RSEQ_N())
+#define MOLA_NARG_I_(...) MOLA_ARG_N(__VA_ARGS__)
+#define MOLA_ARG_N(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
+#define MOLA_RSEQ_N() 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0
+
+// general definition for any function name
+#define MOLA_VFUNC_(name, n) name##n
+#define MOLA_VFUNC(name, n) MOLA_VFUNC_(name, n)
+#define VFUNC(func, ...) MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__)