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

docs/module-mola-launcher.rst

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+.. _mola-launcher:
+
+======================
+Module: mola-launcher
+======================
+
+.. toctree::
+  :maxdepth: 2
+
+----
+
+.. index::
+   single: mola-cli
+
+.. _mola_cli:
+
+Application: ``mola-cli``
+##########################
+
+``mola-cli`` is the most-common entry point to the MOLA system for users.
+Refer to :ref:`demos` for real examples to launch and run SLAM systems.
+
+-------------
+SYNOPSIS
+-------------
+
+.. code-block:: none
+
+    USAGE:
+
+       mola-cli  [--list-module-shared-dirs] [--list-modules]
+                 [--rtti-children-of <mp2p_icp::ICP_Base>] [--rtti-list-all]
+                 [--profiler-whole] [-p] [-v <INFO>] [-c <demo.yml>] [--]
+                 [--version] [-h]
+
+
+    Where:
+
+       --list-module-shared-dirs
+         Finds all MOLA module source/shared directories, then list them. Paths
+         can be added with the environment variable MOLA_MODULES_SHARED_PATH.
+
+       --list-modules
+         Loads all MOLA modules, then list them. It also shows the list of
+         paths in which the program looks for module dynamic libraries, then
+         exits.
+
+       --rtti-children-of <mp2p_icp::ICP_Base>
+         Loads all MOLA modules, then list all known classes that inherit from
+         the given one, and exits.
+
+       --rtti-list-all
+         Loads all MOLA modules, then list all classes registered via
+         mrpt::rtti, and exits.
+
+       --profiler-whole
+         Enable whole-history time profiler in all modules (Default: NO). **DO
+         NOT** use in production, only to benchmark short runs (unbounded
+         memory usage)
+
+       -p,  --profiler
+         Enable time profiler by default in all modules (Default: NO)
+
+       -v <INFO>,  --verbosity <INFO>
+         Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)
+
+       -c <demo.yml>,  --config <demo.yml>
+         Input YAML config file (required) (*.yml)
+
+       --,  --ignore_rest
+         Ignores the rest of the labeled arguments following this flag.
+
+       --version
+         Displays version information and exits.
+
+       -h,  --help
+         Displays usage information and exits.
+
+
+Notes:
+
+  - Finer-control of the verbosity for individual modules is possible by using the `verbosity` variable in the YAML launch file, see: :ref:`yaml_slam_cfg_file`.
+
+Example: Launching a SLAM system with performance details at end:
+
+.. code-block:: none
+
+  mola-cli -c kitti_lidar_slam.yml -p
+
+
+Example: To list all known ICP algorithms:
+
+.. code-block:: none
+
+  mola-cli --rtti-children-of mp2p_icp::ICP_Base
+
+  Listing children of class: mp2p_icp::ICP_Base
+  mp2p_icp::ICP_GaussNewton
+  mp2p_icp::ICP_Horn_MultiCloud
+  mp2p_icp::ICP_OLAE
+
+
+----
+
+.. index::
+   single: mola-dir
+
+.. _mola_dir:
+
+Application: ``mola-dir``
+##########################
+
+``mola-dir`` is a CLI program that finds the shared directory
+(see :ref:`concepts_module_shared_dir`) of a module.
+It is most-commonly useful inside evaluation expression of MOLA definition files (:ref:`yaml_slam_cfg_file`).
+
+-------------
+SYNOPSIS
+-------------
+
+.. code-block:: none
+
+    USAGE:
+
+       mola-dir  <module_name>
+
+
+Note: To list all known shared directories of modules, use:
+
+.. code-block:: none
+
+    mola-cli --list-module-shared-dirs
+
+----
+
+.. index::
+   single: mola-yaml-parser
+
+.. _mola_yaml_parser:
+
+Application: ``mola-yaml-parser``
+###################################
+
+``mola-yaml-parser`` is a CLI program that parses YAML files using MOLA-specific
+extensions (see :ref:`yaml_extensions`), and outputs the result to ``cout``.
+
+-------------
+SYNOPSIS
+-------------
+
+.. code-block:: none
+
+    USAGE:
+
+       mola-yaml-parser  [--no-env-vars] [--no-cmd-runs] [--no-includes] [--]
+                         [--version] [-h] <YAML files>
+
+    Where:
+
+       --no-env-vars
+         Disables solving YAML `${xxx}`s (Default: NO)
+
+       --no-cmd-runs
+         Disables solving YAML `$(cmd)`s (Default: NO)
+
+       --no-includes
+         Disables solving YAML `$include{}`s (Default: NO)
+
+       --,  --ignore_rest
+         Ignores the rest of the labeled arguments following this flag.
+
+       --version
+         Displays version information and exits.
+
+       -h,  --help
+         Displays usage information and exits.
+
+       <YAML files>
+         (required)  Input YAML file (required) (*.yml)
+
+
+Example:
+
+.. code-block:: none
+
+    mola-yaml-parser --no-env-vars demos/kitti_lidar_slam.yml
+
+
+
+----
+
+.. index::
+   module: mola-launcher
+
+C++ library: `mola-launcher`
+#############################
+
+See :ref:`mp2p_icp_grp`.

mola_launcher/.clang-format

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+Language:        Cpp
+BasedOnStyle: Google
+# ---
+#AccessModifierOffset: -4
+AlignAfterOpenBracket: AlwaysBreak # Values: Align, DontAlign, AlwaysBreak
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
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+#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
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+  #BeforeElse:      true
+  #IndentBraces:    false
+#BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Allman
+#BreakBeforeTernaryOperators: true
+#BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 80
+#CommentPragmas:  ''
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+#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_launcher/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_launcher
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.2 (2023-09-08)
+------------------
+* First complete public release
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.1 (2018-12-17)
+------------------
+* Initial commit
+* Contributors: Jose Luis Blanco-Claraco

mola_launcher/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_launcher LANGUAGES CXX)
+
+# MOLA CMake scripts: "mola_xxx()"
+find_package(mola_common REQUIRED)
+
+# find dependencies:
+find_package(mrpt-core)
+
+find_mola_package(mola_kernel)
+
+# -----------------------
+# define lib:
+file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
+file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+
+
+mola_add_library(
+	TARGET ${PROJECT_NAME}
+	SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
+	PUBLIC_LINK_LIBRARIES
+		mrpt::core
+		mola_kernel
+	PRIVATE_LINK_LIBRARIES
+		${CMAKE_DL_LIBS} # To be able to load DLLs/.so's
+	CMAKE_DEPENDENCIES
+		mola_kernel
+)
+
+target_compile_definitions(${PROJECT_NAME}
+    PRIVATE
+    BUILDTIME_MOLA_MODULES_LIB_PATH="${CMAKE_LIBRARY_OUTPUT_DIRECTORY}"
+    # Use top-level source directory:
+    BUILDTIME_MOLA_MODULES_SHARED_PATH="${CMAKE_SOURCE_DIR}/modules"
+    )
+
+# apps:
+add_subdirectory(apps)