;
using Output = Robotics::ColumnVector;
using StateMatrix = Robotics::SquareMatrix;
using InputMatrix = Robotics::Matrix;
using OutputMatrix = Robotics::Matrix;
using FeedthroughMatrix = Robotics::Matrix;
```
Let's define a linear system whose state form is
```
x' = A * x + B * u
y = C * x + D * u
```
To set up a `LinearSystem`:
```cpp
StateMatrix A;
A << 1, 0,
0, 1;
InputMatrix B;
B << 1, 0;
OutputMatrix C;
C << 1, 0,
0, 1;
```
Note that having templates not only improves runtime performance, but also enforces compile-time checking. If you initialize a matrix with the wrong number of elements, the code will not compile.
Matrices C and D are not required: they are null by default if not provided. In this case, D is null.
To define the system:
```cpp
Robotics::Model::LinearSystem system(A, B, C);
```
The initial state is zero by default. You can set a custom initial state as follows:
```cpp
system.SetInitialState(State(1.0, -1.0));
```
---
## Features
Check out [TheLartians/ModernCppStarter](https://github.com/TheLartians/ModernCppStarter) if you want to include these features in your project.
### Running tests
From the root directory:
```bash
cmake -S test -B build/test
cmake --build build/test
CTEST_OUTPUT_ON_FAILURE=1 cmake --build build/test --target test
# or simply call the executable:
./build/test/RoboticsTests
```
To also collect code coverage information, run CMake with the `-DENABLE_TEST_COVERAGE=1` option.
### Running clang-format for autoformatting
This requires _clang-format_, _cmake-format_ and _pyyaml_ to be installed on the current system.
```bash
cmake -S test -B build/test
# view changes
cmake --build build/test --target format
# apply changes
cmake --build build/test --target fix-format
```
See [Format.cmake](https://github.com/TheLartians/Format.cmake) for details.
### Build the documentation
The documentation is automatically built and [published](https://giacomo-b.github.io/CppRobotics) whenever a [GitHub Release](https://help.github.com/en/github/administering-a-repository/managing-releases-in-a-repository) is created.
To manually build documentation, call the following command.
```bash
cmake -S documentation -B build/doc
cmake --build build/doc --target GenerateDocs
# view the docs
open build/doc/doxygen/html/index.html
```
To build the documentation locally, you will need _Doxygen_, _jinja2_ and _Pygments_ installed in your system.
### Build everything at once
The project also includes an `all` directory that allows building all targets at the same time.
This is useful during development, as it exposes all subprojects to your IDE and avoids redundant builds of the library.
```bash
cmake -S all -B build
cmake --build build
# run tests
./build/test/RoboticsTests
# format code
cmake --build build --target fix-format
# run standalone
./build/standalone/Robotics --help
# build docs
cmake --build build --target GenerateDocs
```
### Additional tools
The test and standalone subprojects include the [tools.cmake](cmake/tools.cmake) file which is used to import additional tools on-demand through CMake configuration arguments.
The following are currently supported.
#### Sanitizers
Sanitizers can be enabled by configuring CMake with `-DUSE_SANITIZER=`.
#### Static Analyzers
Static Analyzers can be enabled by setting `-DUSE_STATIC_ANALYZER=`, or a combination of those in quotation marks, separated by semicolons.
By default, analyzers will automatically find configuration files such as `.clang-format`.
Additional arguments can be passed to the analyzers by setting the `CLANG_TIDY_ARGS`, `IWYU_ARGS`, or `CPPCHECK_ARGS` variables.
#### Ccache
Ccache can be enabled by configuring with `-DUSE_CCACHE=`.
---
## TODOs
* [ ] Add more algorithms
* [ ] Add support for nonlinear systems automatic differentiation, so that the Jacobians are automatically computed (see [autodiff](https://autodiff.github.io/tutorials/))
* [ ] Add a README.md to each example folder, to explain the theory
* [ ] Cache the packages downloaded by CPM.CMake (currently everything is re-downloaded every time a new example is built)
* [ ] Many more, feel free to add your ideas!
---
## References
As mentioned above, this repo was originally inspired by [AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics). So go check it out if you want to see more algorithms (or if you want to help port a few of them!).
