Feature/cpp overhaul

bebot/CMakeLists.txt

@@ -0,0 +1,55 @@
+## [main]
+
+# See: https://cliutils.gitlab.io/modern-cmake/chapters/basics/example.html
+
+# Almost all CMake files should start with this
+# You should always specify a range with the newest
+# and oldest tested versions of CMake. This will ensure
+# you pick up the best policies.
+cmake_minimum_required(VERSION 3.0.0)
+
+# This is your project statement. You should always list languages;
+# Listing the version is nice here since it sets lots of useful variables
+project(
+    bebot
+    VERSION 0.1.0
+    LANGUAGES CXX
+    DESCRIPTION "BeBOT Library.")
+
+add_subdirectory(src)
+add_subdirectory(apps) 
+
+# # If you set any CMAKE_ variables, that can go here.
+# # (But usually don't do this, except maybe for C++ standard)
+
+# # Find packages go here.
+
+# # You should usually split this into folders, but this is a simple example
+
+# This is a "default" library, and will match the *** variable setting.
+# Other common choices are STATIC, SHARED, and MODULE
+# Including header files here helps IDEs but is not required.
+# Output libname matches target name, with the usual extensions on your system
+# add_library(bebot SHARED
+#     src/bebot.cpp
+#     include/bebot/bebot.hpp)
+
+# # Link each target with other targets or add options, etc.
+
+# #include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") 
+
+# add_executable(MyApp apps/main.cpp)
+
+# target_include_directories(bebot PRIVATE include)
+# target_include_directories(bebot PRIVATE src)
+
+# # set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+# # set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+# # include(CPack)
+
+# # # Adding something we can run - Output name matches target name
+# # add_executable(MyExample simple_example.cpp)
+
+# # # Make sure you link your targets with this command. It can also link libraries and
+# # # even flags, so linking a target that does not exist will not give a configure-time error.
+# # target_link_libraries(MyExample PRIVATE MyLibExample)

bebot/apps/CMakeLists.txt

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+add_executable(main main.cpp)
+target_link_libraries(main PRIVATE bebot)

bebot/apps/main.cpp

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+#include <bebot/bebot.hpp>
+#include <Eigen/Dense>
+#include <iostream>
+
+using namespace std;
+
+int main() {
+    Eigen::MatrixXd cpts{
+        {0, 1, 2, 3, 4, 5},
+        {3, 6, 2, 9, 6, 8},
+        {3, 4, 6, 4, 7, 9}
+    };
+
+    bebot::BeBOT c(cpts);
+
+    cout << cpts << endl << "---" << endl;
+    cout << c.get_cpts() << endl << "---" << endl;
+
+    Eigen::MatrixXd new_cpts{
+        {0, 1, 2},
+        {3, 4, 2}
+    };
+    c.set_cpts(new_cpts);
+    cout << c.get_cpts() << endl;
+}

bebot/include/bebot/bebot.hpp

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+#pragma once
+
+#include <Eigen/Dense>
+
+namespace bebot {
+    class BeBOT {
+
+        private:
+            double _t0, _tf;
+            Eigen::MatrixXd _cpts; 
+
+        public:
+            BeBOT() = default;
+            ~BeBOT() = default;
+
+            BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts);
+            BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts, const double tf);
+            BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts, const double t0, const double tf);
+
+            void set_cpts(const Eigen::Ref<Eigen::MatrixXd>& cpts);
+            Eigen::MatrixXd get_cpts();
+
+            void set_t0(const double t0);
+            double get_t0();
+
+            void set_tf(const double tf);
+            double get_tf();
+    };
+}

bebot/src/CMakeLists.txt

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+add_library(bebot bebot.cpp ../include/bebot/bebot.hpp)
+target_include_directories(bebot PUBLIC ../include)
+
+find_package (Eigen3 3.3 REQUIRED NO_MODULE)
+target_link_libraries(bebot Eigen3::Eigen)

bebot/src/bebot.cpp

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+#include <bebot/bebot.hpp>
+#include <Eigen/Dense>
+#include <iostream>
+
+using namespace bebot;
+
+BeBOT::BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts) {
+    set_cpts(cpts);
+    set_t0(0.0);
+    set_tf(1.0);
+}
+
+BeBOT::BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts, const double tf) {
+    set_cpts(cpts);
+    set_t0(0.0);
+    set_tf(tf);
+}
+
+BeBOT::BeBOT(const Eigen::Ref<Eigen::MatrixXd>& cpts, const double t0, const double tf) {
+    set_cpts(cpts);
+    set_t0(t0);
+    set_tf(tf);
+}
+
+void BeBOT::set_cpts(const Eigen::Ref<Eigen::MatrixXd>& cpts) {
+    _cpts = cpts;
+}
+
+Eigen::MatrixXd BeBOT::get_cpts() {
+    return _cpts;
+}
+
+void BeBOT::set_t0(const double t0) {
+    _t0 = t0;
+}
+
+double BeBOT::get_t0() {
+    return _t0;
+}
+
+void BeBOT::set_tf(const double tf) {
+    _tf = tf;
+}
+
+double BeBOT::get_tf() {
+    return _tf;
+}