[sample] start to generalize samples against linalg backend (#338)

FrancoisCarouge · Jun 15, 2023 · 8f0cc91 · 8f0cc91
1 parent 1d385ea
commit 8f0cc91
Show file tree

Hide file tree

Showing 5 changed files with 27 additions and 34 deletions.
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
@@ -38,12 +38,6 @@ For more information, please refer to <https://unlicense.org> ]]
 
 include(FetchContent)
 
-FetchContent_Declare(
-  eigen
-  GIT_REPOSITORY "https://gitlab.com/libeigen/eigen"
-  FIND_PACKAGE_ARGS NAMES Eigen3)
-FetchContent_MakeAvailable(eigen)
-
 foreach(SAMPLE "kf_1x1x0_building_height.cpp" "kf_1x1x0_liquid_temperature.cpp"
                "kf_1x1x1_dog_position.cpp")
   get_filename_component(NAME ${SAMPLE} NAME_WE)
@@ -59,20 +53,23 @@ foreach(SAMPLE "kf_1x1x0_building_height.cpp" "kf_1x1x0_liquid_temperature.cpp"
             $<TARGET_FILE:kalman_sample_${NAME}_driver>)
 endforeach()
 
-foreach(SAMPLE_EIGEN
-        "ekf_4x1x0_soaring.cpp" "kf_2x1x1_rocket_altitude.cpp"
-        "kf_6x2x0_vehicle_location.cpp" "kf_8x4x0_deep_sort_bounding_box.cpp")
-  get_filename_component(NAME ${SAMPLE_EIGEN} NAME_WE)
-  add_executable(kalman_sample_eigen_${NAME}_driver ${SAMPLE_EIGEN})
-  set_target_properties(kalman_sample_eigen_${NAME}_driver
-                        PROPERTIES CXX_STANDARD 23)
-  set_target_properties(kalman_sample_eigen_${NAME}_driver
-                        PROPERTIES CXX_EXTENSIONS OFF)
-  target_link_libraries(kalman_sample_eigen_${NAME}_driver
-                        PRIVATE Eigen3::Eigen kalman kalman_main)
-  add_test(kalman_sample_eigen_${NAME} kalman_sample_eigen_${NAME}_driver)
-  add_test(
-    NAME kalman_valgrind_eigen_${NAME}
-    COMMAND valgrind --error-exitcode=1 --leak-check=full --track-origins=yes
-            $<TARGET_FILE:kalman_sample_eigen_${NAME}_driver>)
+foreach(BACKEND IN ITEMS "eigen")
+  foreach(SAMPLE
+          "ekf_4x1x0_soaring.cpp" "kf_2x1x1_rocket_altitude.cpp"
+          "kf_6x2x0_vehicle_location.cpp" "kf_8x4x0_deep_sort_bounding_box.cpp")
+    get_filename_component(NAME ${SAMPLE} NAME_WE)
+    add_executable(kalman_sample_${BACKEND}_${NAME}_driver ${SAMPLE})
+    set_target_properties(kalman_sample_${BACKEND}_${NAME}_driver
+                          PROPERTIES CXX_STANDARD 23)
+    set_target_properties(kalman_sample_${BACKEND}_${NAME}_driver
+                          PROPERTIES CXX_EXTENSIONS OFF)
+    target_link_libraries(kalman_sample_${BACKEND}_${NAME}_driver
+                          PRIVATE kalman kalman_main kalman_linalg_${BACKEND})
+    add_test(kalman_sample_${BACKEND}_${NAME}
+             kalman_sample_${BACKEND}_${NAME}_driver)
+    add_test(
+      NAME kalman_valgrind_${BACKEND}_${NAME}
+      COMMAND valgrind --error-exitcode=1 --leak-check=full --track-origins=yes
+              $<TARGET_FILE:kalman_sample_${BACKEND}_${NAME}_driver>)
+  endforeach()
 endforeach()
diff --git a/sample/ekf_4x1x0_soaring.cpp b/sample/ekf_4x1x0_soaring.cpp
@@ -1,13 +1,12 @@
 #include "fcarouge/kalman.hpp"
-
-#include <Eigen/Eigen>
+#include "fcarouge/linalg.hpp"
 
 #include <cassert>
 #include <cmath>
 
 namespace fcarouge::sample {
 namespace {
-template <auto Size> using vector = Eigen::Vector<float, Size>;
+template <auto Size> using vector = column_vector<float, Size>;
 using state = vector<4>;
 using output = float;
 using no_input = void;

diff --git a/sample/kf_2x1x1_rocket_altitude.cpp b/sample/kf_2x1x1_rocket_altitude.cpp
@@ -1,14 +1,13 @@
 #include "fcarouge/kalman.hpp"
-
-#include <Eigen/Eigen>
+#include "fcarouge/linalg.hpp"
 
 #include <cassert>
 #include <chrono>
 #include <cmath>
 
 namespace fcarouge::sample {
 namespace {
-template <auto Size> using vector = Eigen::Vector<double, Size>;
+template <auto Size> using vector = column_vector<double, Size>;
 using state = vector<2>;
 using output = double;
 using input = double;

diff --git a/sample/kf_6x2x0_vehicle_location.cpp b/sample/kf_6x2x0_vehicle_location.cpp
@@ -1,6 +1,5 @@
 #include "fcarouge/kalman.hpp"
-
-#include <Eigen/Eigen>
+#include "fcarouge/linalg.hpp"
 
 #include <cassert>
 #include <cmath>
@@ -16,7 +15,7 @@ constexpr auto fcarouge::operator/(const Numerator &lhs, const Denominator &rhs)
 
 namespace fcarouge::sample {
 namespace {
-template <auto Size> using vector = Eigen::Vector<double, Size>;
+template <auto Size> using vector = column_vector<double, Size>;
 using state = vector<6>;
 using output = vector<2>;
 using no_input = void;

diff --git a/sample/kf_8x4x0_deep_sort_bounding_box.cpp b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
@@ -1,6 +1,5 @@
 #include "fcarouge/kalman.hpp"
-
-#include <Eigen/Eigen>
+#include "fcarouge/linalg.hpp"
 
 #include <cassert>
 #include <cmath>
@@ -16,7 +15,7 @@ constexpr auto fcarouge::operator/(const Numerator &lhs, const Denominator &rhs)
 
 namespace fcarouge::sample {
 namespace {
-template <auto Size> using vector = Eigen::Vector<float, Size>;
+template <auto Size> using vector = column_vector<float, Size>;
 using state = vector<8>;
 using output = vector<4>;
 using no_input = void;