diff --git a/ControlCore/.gitignore b/ControlCore/.gitignore new file mode 100644 index 0000000..1899660 --- /dev/null +++ b/ControlCore/.gitignore @@ -0,0 +1,2 @@ +build +.vscode \ No newline at end of file diff --git a/ControlCore/CMakeLists.txt b/ControlCore/CMakeLists.txt new file mode 100644 index 0000000..c78b12f --- /dev/null +++ b/ControlCore/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.13) # CMake version check +if(ESP_PLATFORM) + idf_component_register( + SRC_DIRS "." + INCLUDE_DIRS "." + ) +else() + project(ControlCore) + add_subdirectory(LinearAlgebra) + + set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard + set(CMAKE_POSITION_INDEPENDENT_CODE ON) + + add_compile_definitions(GTEST) + include(FetchContent) + FetchContent_Declare( + googletest + DOWNLOAD_EXTRACT_TIMESTAMP ON + URL https://github.com/google/googletest/archive/refs/heads/main.zip + ) + + # For Windows: Prevent overriding the parent project's compiler/linker settings + set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + FetchContent_MakeAvailable(googletest) + + include_directories( + . + LinearAlgebra + ) + add_library(ControlCore STATIC + "Thing.cpp" + "LowLevelMessages.cpp" + "Messages.cpp" + "Participant.cpp" + "float16.cpp" + ) + + enable_testing() + + file(GLOB_RECURSE test_srcs test/*_test.cc) + add_executable( + ControlCoreTest + ${test_srcs} + ) + target_link_libraries( + ControlCoreTest + gtest_main + ControlCore + ) + + if(MSVC) + target_compile_options(ControlCoreTest PRIVATE /W4 /WX) + else() + target_compile_options(ControlCoreTest PRIVATE -Wall -Wextra -Wpedantic -Werror) + endif() + + + include(GoogleTest) + gtest_discover_tests(ControlCoreTest) +endif() + diff --git a/ControlCore/LinearAlgebra/.gitignore b/ControlCore/LinearAlgebra/.gitignore new file mode 100644 index 0000000..5acb669 --- /dev/null +++ b/ControlCore/LinearAlgebra/.gitignore @@ -0,0 +1,2 @@ +build +.vscode diff --git a/ControlCore/LinearAlgebra/.gitlab-ci.yml b/ControlCore/LinearAlgebra/.gitlab-ci.yml new file mode 100644 index 0000000..40f9eec --- /dev/null +++ b/ControlCore/LinearAlgebra/.gitlab-ci.yml @@ -0,0 +1,32 @@ +# You can override the included template(s) by including variable overrides +# SAST customization: https://docs.gitlab.com/ee/user/application_security/sast/#customizing-the-sast-settings +# Secret Detection customization: https://docs.gitlab.com/ee/user/application_security/secret_detection/#customizing-settings +# Dependency Scanning customization: https://docs.gitlab.com/ee/user/application_security/dependency_scanning/#customizing-the-dependency-scanning-settings +# Note that environment variables can be set in several places +# See https://docs.gitlab.com/ee/ci/variables/#cicd-variable-precedence +# +# Specify the docker image to use (only used if using docker runners) +# See http://doc.gitlab.com/ee/ci/docker/using_docker_images.html) + +default: + image: rikorose/gcc-cmake +stages: +- test +unit-test-job: + stage: test + script: + - mkdir build + - cd build + - cmake .. + - cmake --build . + - export GTEST_OUTPUT="xml:report.xml" + - ls -la + - "./LinearAlgebraTest" + artifacts: + when: always + reports: + junit: build/report.xml +sast: + stage: test +include: +- template: Security/SAST.gitlab-ci.yml diff --git a/ControlCore/LinearAlgebra/Angle.cpp b/ControlCore/LinearAlgebra/Angle.cpp new file mode 100644 index 0000000..c88afdc --- /dev/null +++ b/ControlCore/LinearAlgebra/Angle.cpp @@ -0,0 +1,375 @@ +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0.If a copy of the MPL was not distributed with this +// file, You can obtain one at https ://mozilla.org/MPL/2.0/. + +#include "Angle.h" +#include "FloatSingle.h" +#include + +const float Rad2Deg = 57.29578F; +const float Deg2Rad = 0.0174532924F; +/* +float Angle::Normalize(float angle) { + if (!isfinite(angle)) + return angle; + + while (angle <= -180) + angle += 360; + while (angle > 180) + angle -= 360; + return angle; +} +*/ + +//---------------------- + +template AngleOf::AngleOf() : value(0) {} + +template const AngleOf AngleOf::zero = AngleOf(); +// template +// const AngleOf AngleOf::deg90 = AngleOf::Degrees(90); +// template +// const AngleOf AngleOf::deg180 = AngleOf::Degrees(180); + +//===== AngleSingle, AngleOf + +template <> AngleOf AngleOf::Degrees(float degrees) { + if (isfinite(degrees)) { + while (degrees < -180) + degrees += 360; + while (degrees >= 180) + degrees -= 360; + } + + return Binary(degrees); +} + +template <> AngleOf AngleOf::Radians(float radians) { + if (isfinite(radians)) { + while (radians <= -pi) + radians += 2 * pi; + while (radians > pi) + radians -= 2 * pi; + } + + return Binary(radians * Rad2Deg); +} + +template <> float AngleOf::InDegrees() const { return this->value; } + +template <> float AngleOf::InRadians() const { + return this->value * Deg2Rad; +} + +//===== Angle16, AngleOf + +template <> +AngleOf AngleOf::Degrees(float degrees) { + // map float [-180..180) to integer [-32768..32767] + signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F); + return Binary(value); +} + +template <> +AngleOf AngleOf::Radians(float radians) { + if (!isfinite(radians)) + return AngleOf::zero; + + // map float [-PI..PI) to integer [-32768..32767] + signed short value = (signed short)roundf(radians / pi * 32768.0F); + return Binary(value); +} + +template <> float AngleOf::InDegrees() const { + float degrees = this->value / 65536.0f * 360.0f; + return degrees; +} + +template <> float AngleOf::InRadians() const { + float radians = this->value / 65536.0f * (2 * pi); + return radians; +} + +//===== Angle8, AngleOf + +template <> AngleOf AngleOf::Degrees(float degrees) { + // map float [-180..180) to integer [-128..127) + signed char value = (signed char)roundf(degrees / 360.0F * 256.0F); + return Binary(value); +} + +template <> AngleOf AngleOf::Radians(float radians) { + if (!isfinite(radians)) + return AngleOf::zero; + + // map float [-pi..pi) to integer [-128..127) + signed char value = (signed char)roundf(radians / pi * 128.0f); + return Binary(value); +} + +template <> float AngleOf::InDegrees() const { + float degrees = this->value / 256.0f * 360.0f; + return degrees; +} + +template <> float AngleOf::InRadians() const { + float radians = this->value / 128.0f * pi; + return radians; +} + +//===== Generic + +template AngleOf AngleOf::Binary(T rawValue) { + AngleOf angle = AngleOf(); + angle.SetBinary(rawValue); + return angle; +} + +template T AngleOf::GetBinary() const { return this->value; } +template void AngleOf::SetBinary(T rawValue) { + this->value = rawValue; +} + +template +bool AngleOf::operator==(const AngleOf angle) const { + return this->value == angle.value; +} + +template bool AngleOf::operator>(AngleOf angle) const { + return this->value > angle.value; +} + +template bool AngleOf::operator>=(AngleOf angle) const { + return this->value >= angle.value; +} + +template bool AngleOf::operator<(AngleOf angle) const { + return this->value < angle.value; +} + +template bool AngleOf::operator<=(AngleOf angle) const { + return this->value <= angle.value; +} + +template +signed int Passer::LinearAlgebra::AngleOf::Sign(AngleOf angle) { + if (angle.value < 0) + return -1; + if (angle.value > 0) + return 1; + return 0; +} + +template +AngleOf Passer::LinearAlgebra::AngleOf::Abs(AngleOf angle) { + if (Sign(angle) < 0) + return -angle; + else + return angle; +} + +template AngleOf AngleOf::operator-() const { + AngleOf angle = Binary(-this->value); + return angle; +} + +template <> +AngleOf AngleOf::operator-(const AngleOf &angle) const { + AngleOf r = Binary(this->value - angle.value); + r = Normalize(r); + return r; +} +template +AngleOf AngleOf::operator-(const AngleOf &angle) const { + AngleOf r = Binary(this->value - angle.value); + return r; +} + +template <> +AngleOf AngleOf::operator+(const AngleOf &angle) const { + AngleOf r = Binary(this->value + angle.value); + r = Normalize(r); + return r; +} +template +AngleOf AngleOf::operator+(const AngleOf &angle) const { + AngleOf r = Binary(this->value + angle.value); + return r; +} + +template <> +AngleOf AngleOf::operator+=(const AngleOf &angle) { + this->value += angle.value; + this->Normalize(); + return *this; +} + +template +AngleOf AngleOf::operator+=(const AngleOf &angle) { + this->value += angle.value; + return *this; +} + +// This defintion is not matching the declaration in the header file somehow +// template +// AngleOf operator*(const AngleOf &angle, float factor) { +// return AngleOf::Degrees((float)angle.InDegrees() * factor); +// } + +// This defintion is not matching the declaration in the header file somehow +// template +// AngleOf operator*(float factor, const AngleOf &angle) { +// return AngleOf::Degrees((float)factor * angle.InDegrees()); +// } + +template void AngleOf::Normalize() { + float angleValue = this->InDegrees(); + if (!isfinite(angleValue)) + return; + + while (angleValue <= -180) + angleValue += 360; + while (angleValue > 180) + angleValue -= 360; + *this = AngleOf::Degrees(angleValue); +} + +template AngleOf AngleOf::Normalize(AngleOf angle) { + float angleValue = angle.InDegrees(); + if (!isfinite(angleValue)) + return angle; + + while (angleValue <= -180) + angleValue += 360; + while (angleValue > 180) + angleValue -= 360; + return AngleOf::Degrees(angleValue); +} + +template +AngleOf AngleOf::Clamp(AngleOf angle, AngleOf min, AngleOf max) { + float r = Float::Clamp(angle.InDegrees(), min.InDegrees(), max.InDegrees()); + return AngleOf::Degrees(r); +} + +template +AngleOf AngleOf::MoveTowards(AngleOf fromAngle, AngleOf toAngle, + float maxDegrees) { + maxDegrees = fmaxf(0, maxDegrees); // filter out negative distances + AngleOf d = toAngle - fromAngle; + float dDegrees = Abs(d).InDegrees(); + d = AngleOf::Degrees(Float::Clamp(dDegrees, 0, maxDegrees)); + if (Sign(d) < 0) + d = -d; + + return fromAngle + d; +} + +template float AngleOf::Cos(AngleOf angle) { + return cosf(angle.InRadians()); +} +template float AngleOf::Sin(AngleOf angle) { + return sinf(angle.InRadians()); +} +template float AngleOf::Tan(AngleOf angle) { + return tanf(angle.InRadians()); +} + +template AngleOf AngleOf::Acos(float f) { + return AngleOf::Radians(acosf(f)); +} +template AngleOf AngleOf::Asin(float f) { + return AngleOf::Radians(asinf(f)); +} +template AngleOf AngleOf::Atan(float f) { + return AngleOf::Radians(atanf(f)); +} + +template +AngleOf Passer::LinearAlgebra::AngleOf::Atan2(float y, float x) { + return AngleOf::Radians(atan2f(y, x)); +} + +// template <> +// float AngleOf::CosineRuleSide(float a, float b, AngleOf gamma) +// { +// float a2 = a * a; +// float b2 = b * b; +// float d = +// a2 + b2 - +// 2 * a * b * Cos(gamma); // cosf(gamma * +// Passer::LinearAlgebra::Deg2Rad); +// // Catch edge cases where float inacuracies lead tot nans +// if (d < 0) +// return 0.0f; + +// float c = sqrtf(d); +// return c; +// } + +template +float AngleOf::CosineRuleSide(float a, float b, AngleOf gamma) { + float a2 = a * a; + float b2 = b * b; + float d = + a2 + b2 - + 2 * a * b * Cos(gamma); // cosf(gamma * Passer::LinearAlgebra::Deg2Rad); + // Catch edge cases where float inacuracies lead tot nans + if (d < 0) + return 0; + + float c = sqrtf(d); + return c; +} + +// template <> +// AngleOf AngleOf::CosineRuleAngle(float a, float b, float c) { +// float a2 = a * a; +// float b2 = b * b; +// float c2 = c * c; +// float d = (a2 + b2 - c2) / (2 * a * b); +// // Catch edge cases where float inacuracies lead tot nans +// if (d >= 1) +// return 0.0f; +// if (d <= -1) +// return 180.0f; + +// float gamma = acosf(d) * Rad2Deg; +// return gamma; +// } +template +AngleOf AngleOf::CosineRuleAngle(float a, float b, float c) { + float a2 = a * a; + float b2 = b * b; + float c2 = c * c; + float d = (a2 + b2 - c2) / (2 * a * b); + // Catch edge cases where float inacuracies lead tot nans + if (d >= 1) + return AngleOf(); + if (d <= -1) + return AngleOf::Degrees(180); + + // float gamma = acosf(d) * Rad2Deg; + AngleOf gamma = Acos(d); + return gamma; +} + +// template <> +// AngleOf AngleOf::SineRuleAngle(float a, +// AngleOf beta, +// float b) { +// float deg2rad = Deg2Rad; +// float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b); +// return alpha; +// } +template +AngleOf AngleOf::SineRuleAngle(float a, AngleOf beta, float b) { + // float deg2rad = Deg2Rad; + // float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b); + AngleOf alpha = Asin(a * Sin(beta) / b); + return alpha; +} + +template class AngleOf; +template class AngleOf; +template class AngleOf; \ No newline at end of file diff --git a/ControlCore/LinearAlgebra/Angle.h b/ControlCore/LinearAlgebra/Angle.h new file mode 100644 index 0000000..f8a215f --- /dev/null +++ b/ControlCore/LinearAlgebra/Angle.h @@ -0,0 +1,226 @@ +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0.If a copy of the MPL was not distributed with this +// file, You can obtain one at https ://mozilla.org/MPL/2.0/. + +#ifndef ANGLE_H +#define ANGLE_H + +namespace Passer { +namespace LinearAlgebra { + +static float pi = 3.1415927410125732421875F; + +static float Rad2Deg = 360.0f / (pi * 2); +static float Deg2Rad = (pi * 2) / 360.0f; + +/// @brief An angle in various representations. +/// @tparam T The internal type used for the representation of the angle. +/// The angle is internally limited to (-180..180] degrees or (-PI...PI] +/// radians. When an angle exceeds this range, it is normalized to a value +/// within the range. +template class AngleOf { +public: + /// @brief Create a new angle with a zero value + AngleOf(); + + /// @brief An zero value angle + const static AngleOf zero; + // const static AngleOf deg90; + // const static AngleOf deg180; + + /// @brief Creates an angle in degrees + /// @param degrees the angle in degrees + /// @return The angle value + static AngleOf Degrees(float degrees); + /// @brief Short-hand Deg alias for the Degrees function + constexpr static auto Deg = Degrees; + /// @brief Creates an angle in radians + /// @param radians the angle in radians + /// @return The angle value + static AngleOf Radians(float radians); + /// @brief Short-hand Rad alias for the Radians function + constexpr static auto Rad = Radians; + /// @brief Creates an angle from a raw value + /// @param rawValue the raw value to use for the angle + /// @return The the angle + static AngleOf Binary(T rawValue); + + /// @brief Get the angle value in degrees + /// @return The angle value in degrees + float InDegrees() const; + /// @brief Get the angle value in radians + /// @return The angle value in radians + float InRadians() const; + + /// @brief Get the raw value for the angle + /// @return The raw value + T GetBinary() const; + /// @brief Set the raw value of the angle + /// @param rawValue The raw value + void SetBinary(T rawValue); + + /// @brief Tests whether this angle is equal to the given angle + /// @param angle The angle to compare to + /// @return True when the angles are equal, False otherwise + /// @note The equality is determine within the limits of precision of the raw + /// type T + bool operator==(const AngleOf angle) const; + /// @brief Tests if this angle is greater than the given angle + /// @param angle The given angle + /// @return True when this angle is greater than the given angle, False + /// otherwise + bool operator>(AngleOf angle) const; + /// @brief Tests if this angle is greater than or equal to the given angle + /// @param angle The given angle + /// @return True when this angle is greater than or equal to the given angle. + /// False otherwise. + bool operator>=(AngleOf angle) const; + /// @brief Tests if this angle is less than the given angle + /// @param angle The given angle + /// @return True when this angle is less than the given angle. False + /// otherwise. + bool operator<(AngleOf angle) const; + /// @brief Tests if this angle is less than or equal to the given angle + /// @param angle The given angle + /// @return True when this angle is less than or equal to the given angle. + /// False otherwise. + bool operator<=(AngleOf angle) const; + + /// @brief Returns the sign of the angle + /// @param angle The angle + /// @return -1 when the angle is negative, 1 when it is positive and 0 + /// otherwise. + static signed int Sign(AngleOf angle); + /// @brief Returns the magnitude of the angle + /// @param angle The angle + /// @return The positive magitude of the angle. + /// Negative values are negated to get a positive result + static AngleOf Abs(AngleOf angle); + + /// @brief Negate the angle + /// @return The negated angle + AngleOf operator-() const; + /// @brief Substract another angle from this angle + /// @param angle The angle to subtract from this angle + /// @return The result of the subtraction + AngleOf operator-(const AngleOf &angle) const; + /// @brief Add another angle from this angle + /// @param angle The angle to add to this angle + /// @return The result of the addition + AngleOf operator+(const AngleOf &angle) const; + /// @brief Add another angle to this angle + /// @param angle The angle to add to this angle + /// @return The result of the addition + AngleOf operator+=(const AngleOf &angle); + + /// @brief Mutliplies the angle + /// @param angle The angle to multiply + /// @param factor The factor by which the angle is multiplied + /// @return The multiplied angle + friend AngleOf operator*(const AngleOf &angle, float factor) { + return AngleOf::Degrees((float)angle.InDegrees() * factor); + } + /// @brief Multiplies the angle + /// @param factor The factor by which the angle is multiplies + /// @param angle The angle to multiply + /// @return The multiplied angle + friend AngleOf operator*(float factor, const AngleOf &angle) { + return AngleOf::Degrees((float)factor * angle.InDegrees()); + } + + /// @brief Normalizes the angle to (-180..180] or (-PI..PI] + /// Should not be needed but available in case it is. + void Normalize(); + /// @brief Normalizes the angle to (-180..180] or (-PI..PI] + /// @param angle The angle to normalize + /// @return The normalized angle; + static AngleOf Normalize(AngleOf angle); + /// @brief Clamps the angle value between the two given angles + /// @param angle The angle to clamp + /// @param min The minimum angle + /// @param max The maximum angle + /// @return The clamped value + /// @remark When the min value is greater than the max value, angle is + /// returned unclamped. + static AngleOf Clamp(AngleOf angle, AngleOf min, AngleOf max); + // static AngleOf Difference(AngleOf a, AngleOf b) { + // AngleOf r = Normalize(b.InDegrees() - a.InDegrees()); + // return r; + // }; + + /// @brief Rotates an angle towards another angle with a max distance + /// @param fromAngle The angle to start from + /// @param toAngle The angle to rotate towards + /// @param maxAngle The maximum angle to rotate + /// @return The rotated angle + static AngleOf MoveTowards(AngleOf fromAngle, AngleOf toAngle, + float maxAngle); + + /// @brief Calculates the cosine of an angle + /// @param angle The given angle + /// @return The cosine of the angle + static float Cos(AngleOf angle); + /// @brief Calculates the sine of an angle + /// @param angle The given angle + /// @return The sine of the angle + static float Sin(AngleOf angle); + /// @brief Calculates the tangent of an angle + /// @param angle The given angle + /// @return The tangent of the angle + static float Tan(AngleOf angle); + + /// @brief Calculates the arc cosine angle + /// @param f The value + /// @return The arc cosine for the given value + static AngleOf Acos(float f); + /// @brief Calculates the arc sine angle + /// @param f The value + /// @return The arc sine for the given value + static AngleOf Asin(float f); + /// @brief Calculates the arc tangent angle + /// @param f The value + /// @return The arc tangent for the given value + static AngleOf Atan(float f); + /// @brief Calculates the tangent for the given values + /// @param y The vertical value + /// @param x The horizontal value + /// @return The tanget for the given values + /// Uses the y and x signs to compute the quadrant + static AngleOf Atan2(float y, float x); + + /// @brief Computes the length of a side using the rule of cosines + /// @param a The length of side A + /// @param b The length of side B + /// @param gamma The angle of the corner opposing side C + /// @return The length of side C + static float CosineRuleSide(float a, float b, AngleOf gamma); + /// @brief Computes the angle of a corner using the rule of cosines + /// @param a The length of side A + /// @param b The length of side B + /// @param c The length of side C + /// @return The angle of the corner opposing side C + static AngleOf CosineRuleAngle(float a, float b, float c); + + /// @brief Computes the angle of a corner using the rule of sines + /// @param a The length of side A + /// @param beta the angle of the corner opposing side B + /// @param c The length of side C + /// @return The angle of the corner opposing side A + static AngleOf SineRuleAngle(float a, AngleOf beta, float c); + +private: + T value; + + AngleOf(T value); +}; + +// using Angle = AngleOf; +using AngleSingle = AngleOf; +using Angle16 = AngleOf; +using Angle8 = AngleOf; + +} // namespace LinearAlgebra +} // namespace Passer +using namespace Passer::LinearAlgebra; + +#endif \ No newline at end of file diff --git a/ControlCore/LinearAlgebra/AngleAxis.cpp b/ControlCore/LinearAlgebra/AngleAxis.cpp new file mode 100644 index 0000000..6e17e51 --- /dev/null +++ b/ControlCore/LinearAlgebra/AngleAxis.cpp @@ -0,0 +1,53 @@ +/* +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0.If a copy of the MPL was not distributed with this +// file, You can obtain one at https ://mozilla.org/MPL/2.0/. + +#include "AngleAxis.h" + +template +AngleAxisOf::AngleAxisOf() { + this->angle = 0.0F; + this->axis = DirectionOf(); +} + +template +AngleAxisOf::AngleAxisOf(float angle, DirectionOf axis) { + this->angle = angle; + this->axis = axis; +} + +template +AngleAxisOf::AngleAxisOf(float angle, Vector3 axis) { + this->angle = angle; + this->axis = DirectionOf::FromVector3(axis); +} + +template +AngleAxisOf::AngleAxisOf(Quaternion q) { + float angle; + Vector3 axis; + q.ToAngleAxis(&angle, &axis); + this->angle = angle; + this->axis = DirectionOf::FromVector3(axis); +} + +template +const AngleAxisOf AngleAxisOf::zero = + AngleAxisOf(0.0, DirectionOf(AngleOf(), AngleOf())); + +template +Quaternion AngleAxisOf::ToQuaternion() { + Vector3 axisVector = this->axis.ToVector3(); + Quaternion q = Quaternion::AngleAxis(this->angle, axisVector); + return q; +} + +template +DirectionOf AngleAxisOf::GetSwing() { + return this->axis; +} + +template class AngleAxisOf; +template class AngleAxisOf; +*/ \ No newline at end of file diff --git a/ControlCore/LinearAlgebra/AngleUsing.h b/ControlCore/LinearAlgebra/AngleUsing.h new file mode 100644 index 0000000..f2bc80e --- /dev/null +++ b/ControlCore/LinearAlgebra/AngleUsing.h @@ -0,0 +1,52 @@ +/* +#ifndef DISCRETEANGLE_H +#define DISCRETEANGLE_H + +#include "Angle.h" +#include "Range.h" + +namespace Passer { +namespace LinearAlgebra { + +// A fixed angle between (-180..180] + +template +class AngleUsing { + public: + AngleUsing(T sourceValue) { this->value = sourceValue; } + AngleUsing(float f); + float ToFloat() const; + inline T GetValue() const { return this->value; } + + AngleUsing operator+(const AngleUsing a) { + AngleUsing r = AngleUsing((float)this->value + a.value); + return r; + } + + inline AngleUsing operator+=(const AngleUsing a) { + return this->value + a.value; + } + + inline AngleUsing operator-(const AngleUsing a) { + return this->value - a.value; + } + + inline AngleUsing operator-() { + this->value = -this->value; + return *this; + } + + inline bool operator==(const AngleUsing a) { + return this->value == a.value; + } + + // protected: + T value; +}; + +} // namespace LinearAlgebra +} // namespace Passer +using namespace Passer::LinearAlgebra; + +#endif +*/ \ No newline at end of file diff --git a/ControlCore/LinearAlgebra/CMakeLists.txt b/ControlCore/LinearAlgebra/CMakeLists.txt new file mode 100644 index 0000000..38bbf0c --- /dev/null +++ b/ControlCore/LinearAlgebra/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 3.13) # CMake version check +if(ESP_PLATFORM) + idf_component_register( + SRC_DIRS "." + INCLUDE_DIRS "." + ) +else() + project(LinearAlgebra) + + set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard + set(CMAKE_POSITION_INDEPENDENT_CODE ON) + + add_compile_definitions(GTEST) + include(FetchContent) + FetchContent_Declare( + googletest + DOWNLOAD_EXTRACT_TIMESTAMP + URL https://github.com/google/googletest/archive/refs/heads/main.zip + ) + + # For Windows: Prevent overriding the parent project's compiler/linker settings + set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + FetchContent_MakeAvailable(googletest) + + include_directories(.) + add_library(LinearAlgebra STATIC + "FloatSingle.cpp" + "Angle.cpp" + "Vector2.cpp" + "Vector3.cpp" + "Quaternion.cpp" + "Polar.cpp" + "Spherical.cpp" + "Matrix.cpp" + # "Axis.cpp" + # "AngleAxis.cpp" + "SwingTwist.cpp" + "Direction.cpp" + ) + + enable_testing() + + file(GLOB_RECURSE test_srcs test/*_test.cc) + add_executable( + LinearAlgebraTest + ${test_srcs} + ) + target_link_libraries( + LinearAlgebraTest + gtest_main + LinearAlgebra + ) + + if(MSVC) + target_compile_options(LinearAlgebraTest PRIVATE /W4 /WX) + else() + target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror) + endif() + + + include(GoogleTest) + gtest_discover_tests(LinearAlgebraTest) +endif() + diff --git a/ControlCore/LinearAlgebra/Direction.cpp b/ControlCore/LinearAlgebra/Direction.cpp new file mode 100644 index 0000000..c465b4a --- /dev/null +++ b/ControlCore/LinearAlgebra/Direction.cpp @@ -0,0 +1,111 @@ +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0.If a copy of the MPL was not distributed with this +// file, You can obtain one at https ://mozilla.org/MPL/2.0/. + +#include "Direction.h" + +#include "Quaternion.h" +#include "Vector3.h" + +#include + +template +DirectionOf::DirectionOf() { + this->horizontal = AngleOf(); + this->vertical = AngleOf(); +} + +template +DirectionOf::DirectionOf(AngleOf horizontal, AngleOf vertical) { + this->horizontal = horizontal; + this->vertical = vertical; + Normalize(); +}; + +template +const DirectionOf DirectionOf::forward = + DirectionOf(AngleOf(), AngleOf()); +template +const DirectionOf DirectionOf::back = + DirectionOf(AngleOf::Degrees(180), AngleOf()); +template +const DirectionOf DirectionOf::up = + DirectionOf(AngleOf(), AngleOf::Degrees(90)); +template +const DirectionOf DirectionOf::down = + DirectionOf(AngleOf(), AngleOf::Degrees(-90)); +template +const DirectionOf DirectionOf::left = + DirectionOf(AngleOf::Degrees(-90), AngleOf()); +template +const DirectionOf DirectionOf::right = + DirectionOf(AngleOf::Degrees(90), AngleOf()); + +template +Vector3 Passer::LinearAlgebra::DirectionOf::ToVector3() const { + Quaternion q = Quaternion::Euler(-this->vertical.InDegrees(), + this->horizontal.InDegrees(), 0); + Vector3 v = q * Vector3::forward; + return v; +} + +template +DirectionOf Passer::LinearAlgebra::DirectionOf::FromVector3(Vector3 v) { + DirectionOf d; + d.horizontal = AngleOf::Atan2( + v.Right(), + v.Forward()); // AngleOf::Radians(atan2f(v.Right(), v.Forward())); + d.vertical = + AngleOf::Degrees(-90) - + AngleOf::Acos( + v.Up()); // AngleOf::Radians(-(0.5f * pi) - acosf(v.Up())); + d.Normalize(); + return d; +} + +template +DirectionOf Passer::LinearAlgebra::DirectionOf::Degrees(float horizontal, + float vertical) { + return DirectionOf(AngleOf::Degrees(horizontal), + AngleOf::Degrees(vertical)); +} + +template +DirectionOf Passer::LinearAlgebra::DirectionOf::Radians(float horizontal, + float vertical) { + return DirectionOf(AngleOf::Radians(horizontal), + AngleOf::Radians(vertical)); +} + +template +bool Passer::LinearAlgebra::DirectionOf::operator==( + const DirectionOf d) const { + return (this->horizontal == d.horizontal) && (this->vertical == d.vertical); +} + +template +DirectionOf Passer::LinearAlgebra::DirectionOf::operator-() const { + DirectionOf r = DirectionOf(this->horizontal + AngleOf::Degrees(180), + -this->vertical); + return r; +} + +template +Vector3 DirectionOf::ToVector3() { + Vector3 v = Quaternion::Euler(-this->vertical.InDegrees(), + this->horizontal.InDegrees(), 0) * + Vector3::forward; + return v; +} + +template +void DirectionOf::Normalize() { + if (this->vertical > AngleOf::Degrees(90) || + this->vertical < AngleOf::Degrees(-90)) { + this->horizontal += AngleOf::Degrees(180); + this->vertical = AngleOf::Degrees(180) - this->vertical; + } +} + +template class DirectionOf; +template class DirectionOf; diff --git a/ControlCore/LinearAlgebra/Direction.h b/ControlCore/LinearAlgebra/Direction.h new file mode 100644 index 0000000..79ca814 --- /dev/null +++ b/ControlCore/LinearAlgebra/Direction.h @@ -0,0 +1,57 @@ +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0.If a copy of the MPL was not distributed with this +// file, You can obtain one at https ://mozilla.org/MPL/2.0/. + +#ifndef DIRECTION_H +#define DIRECTION_H + +#include "Angle.h" + +namespace Passer { +namespace LinearAlgebra { + +struct Vector3; + +template +class DirectionOf { + public: + /// @brief horizontal angle, range= (-180..180] + AngleOf horizontal; + /// @brief vertical angle, range in degrees = (-90..90] + AngleOf vertical; + + DirectionOf(); + DirectionOf(AngleOf horizontal, AngleOf vertical); + + Vector3 ToVector3() const; + static DirectionOf FromVector3(Vector3 v); + + static DirectionOf Degrees(float horizontal, float vertical); + static DirectionOf Radians(float horizontal, float vertical); + + const static DirectionOf forward; + const static DirectionOf back; + const static DirectionOf up; + const static DirectionOf down; + const static DirectionOf left; + const static DirectionOf right; + + bool operator==(const DirectionOf d) const; + + DirectionOf operator-() const; + + Vector3 ToVector3(); + + protected: + void Normalize(); +}; + +using DirectionSingle = DirectionOf; +using Direction16 = DirectionOf; +using Direction = DirectionOf; + +} // namespace LinearAlgebra +} // namespace Passer +using namespace Passer::LinearAlgebra; + +#endif \ No newline at end of file diff --git a/ControlCore/LinearAlgebra/DoxyGen/DoxyWarnLogfile.txt b/ControlCore/LinearAlgebra/DoxyGen/DoxyWarnLogfile.txt new file mode 100644 index 0000000..b1425a0 --- /dev/null +++ b/ControlCore/LinearAlgebra/DoxyGen/DoxyWarnLogfile.txt @@ -0,0 +1,122 @@ +warning: source 'images' is not a readable file or directory... skipping. +d:/PlatformIO/linear-algebra/Quaternion.cpp:100: warning: no uniquely matching class member found for + Quaternion Quaternion::operator*(const Quaternion &r2) const +Possible candidates: + 'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 120 of file d:/PlatformIO/linear-algebra/Angle.h + 'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 127 of file d:/PlatformIO/linear-algebra/Angle.h + 'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h + 'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 100 of file d:/PlatformIO/linear-algebra/Polar.h + 'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 103 of file d:/PlatformIO/linear-algebra/Polar.h + 'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 109 of file d:/PlatformIO/linear-algebra/Spherical.h + 'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 112 of file d:/PlatformIO/linear-algebra/Spherical.h + 'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 45 of file d:/PlatformIO/linear-algebra/SwingTwist.h + 'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 53 of file d:/PlatformIO/linear-algebra/SwingTwist.h + 'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 143 of file d:/PlatformIO/linear-algebra/Vector2.h + 'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 146 of file d:/PlatformIO/linear-algebra/Vector2.h + 'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 151 of file d:/PlatformIO/linear-algebra/Vector3.h + 'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 154 of file d:/PlatformIO/linear-algebra/Vector3.h +d:/PlatformIO/linear-algebra/Quaternion.cpp:108: warning: no uniquely matching class member found for + Vector3 Quaternion::operator*(const Vector3 &p) const +Possible candidates: + 'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 120 of file d:/PlatformIO/linear-algebra/Angle.h + 'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 127 of file d:/PlatformIO/linear-algebra/Angle.h + 'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h + 'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 100 of file d:/PlatformIO/linear-algebra/Polar.h + 'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 103 of file d:/PlatformIO/linear-algebra/Polar.h + 'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 109 of file d:/PlatformIO/linear-algebra/Spherical.h + 'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 112 of file d:/PlatformIO/linear-algebra/Spherical.h + 'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 45 of file d:/PlatformIO/linear-algebra/SwingTwist.h + 'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 53 of file d:/PlatformIO/linear-algebra/SwingTwist.h + 'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 143 of file d:/PlatformIO/linear-algebra/Vector2.h + 'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 146 of file d:/PlatformIO/linear-algebra/Vector2.h + 'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 151 of file d:/PlatformIO/linear-algebra/Vector3.h + 'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 154 of file d:/PlatformIO/linear-algebra/Vector3.h +d:/PlatformIO/linear-algebra/Quaternion.cpp:152: warning: no uniquely matching class member found for + Quaternion Quaternion::LookRotation(const Vector3 &forward, const Vector3 &up) +Possible candidates: + 'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward, const Vector3 &upwards)' at line 132 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward)' at line 143 of file d:/PlatformIO/linear-algebra/Quaternion.h +d:/PlatformIO/linear-algebra/Quaternion.cpp:330: warning: no uniquely matching class member found for + Quaternion Quaternion::Euler(Vector3 euler) +Possible candidates: + 'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(float x, float y, float z)' at line 218 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(Vector3 eulerAngles)' at line 225 of file d:/PlatformIO/linear-algebra/Quaternion.h +d:/PlatformIO/linear-algebra/Quaternion.cpp:362: warning: no uniquely matching class member found for + Quaternion Quaternion::EulerXYZ(Vector3 euler) +Possible candidates: + 'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(float x, float y, float z)' at line 235 of file d:/PlatformIO/linear-algebra/Quaternion.h + 'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(Vector3 eulerAngles)' at line 242 of file d:/PlatformIO/linear-algebra/Quaternion.h +d:/PlatformIO/linear-algebra/Spherical.cpp:137: warning: no uniquely matching class member found for + template < T > + SphericalOf< T > SphericalOf::operator-(const SphericalOf< T > &s2) const +Possible candidates: + 'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-() const' at line 102 of file d:/PlatformIO/linear-algebra/Angle.h + 'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-(const AngleOf< T > &angle) const' at line 106 of file d:/PlatformIO/linear-algebra/Angle.h + 'DirectionOf< T > Passer::LinearAlgebra::DirectionOf< T >::operator-() const' at line 41 of file d:/PlatformIO/linear-algebra/Direction.h + 'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-() const' at line 82 of file d:/PlatformIO/linear-algebra/Polar.h + 'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-(const PolarOf &v) const' at line 87 of file d:/PlatformIO/linear-algebra/Polar.h + 'RangeUsing< T > Passer::LinearAlgebra::RangeUsing< T >::operator-(RangeUsing< T > a)' at line 38 of file d:/PlatformIO/linear-algebra/Range.h + 'RangeUsing< T > Passer::LinearAlgebra::RangeUsing< T >::operator-()' at line 40 of file d:/PlatformIO/linear-algebra/Range.h + 'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-() const' at line 91 of file d:/PlatformIO/linear-algebra/Spherical.h + 'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-(const SphericalOf< T > &v) const' at line 96 of file d:/PlatformIO/linear-algebra/Spherical.h + 'Vector2 Passer::LinearAlgebra::Vector2::operator-()' at line 118 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Vector2 Passer::LinearAlgebra::Vector2::operator-(const Vector2 &v) const' at line 123 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Vector3 Passer::LinearAlgebra::Vector3::operator-() const' at line 126 of file d:/PlatformIO/linear-algebra/Vector3.h + 'Vector3 Passer::LinearAlgebra::Vector3::operator-(const Vector3 &v) const' at line 131 of file d:/PlatformIO/linear-algebra/Vector3.h +d:/PlatformIO/linear-algebra/Vector2.cpp:20: warning: no uniquely matching class member found for + Vector2::Vector2(float _x, float _y) +Possible candidates: + 'Passer::LinearAlgebra::Vector2::Vector2()' at line 45 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 49 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 53 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 56 of file d:/PlatformIO/linear-algebra/Vector2.h +d:/PlatformIO/linear-algebra/Vector2.cpp:32: warning: no uniquely matching class member found for + Vector2::Vector2(Polar p) +Possible candidates: + 'Passer::LinearAlgebra::Vector2::Vector2()' at line 45 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 49 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 53 of file d:/PlatformIO/linear-algebra/Vector2.h + 'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 56 of file d:/PlatformIO/linear-algebra/Vector2.h +d:/PlatformIO/linear-algebra/Vector3.cpp:33: warning: no uniquely matching class member found for + Vector3::Vector3(SphericalOf< float > s) +Possible candidates: + 'Passer::LinearAlgebra::Vector3::Vector3()' at line 49 of file d:/PlatformIO/linear-algebra/Vector3.h + 'Passer::LinearAlgebra::Vector3::Vector3(float right, float up, float forward)' at line 54 of file d:/PlatformIO/linear-algebra/Vector3.h + 'Passer::LinearAlgebra::Vector3::Vector3(Vector2 v)' at line 57 of file d:/PlatformIO/linear-algebra/Vector3.h + 'Passer::LinearAlgebra::Vector3::Vector3(SphericalOf< float > v)' at line 61 of file d:/PlatformIO/linear-algebra/Vector3.h +d:/PlatformIO/linear-algebra/Matrix.h:12: warning: Member MatrixOf(unsigned int rows, unsigned int cols) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:13: warning: Member MatrixOf(unsigned int rows, unsigned int cols, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:17: warning: Member MatrixOf(Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:59: warning: Member Multiply(const MatrixOf< T > *m, MatrixOf< T > *r) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:64: warning: Member operator*(const Vector3 v) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:66: warning: Member Get(unsigned int rowIx, unsigned int colIx) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:71: warning: Member Set(unsigned int rowIx, unsigned int colIx, T value) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:77: warning: Member Set(const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:84: warning: Member SetRow(unsigned int rowIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:91: warning: Member SetCol(unsigned int colIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:98: warning: Member CopyFrom(const MatrixOf< T > *m) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:108: warning: Member RowCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:109: warning: Member ColCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:57: warning: Member Multiply(const MatrixOf< T > *m1, const MatrixOf< T > *m2, MatrixOf< T > *r) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Matrix.h:63: warning: Member Multiply(const MatrixOf< T > *m, Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:124: warning: Member operator-=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:129: warning: Member operator+=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:150: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:161: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:146: warning: Member operator*(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector2.h:158: warning: Member operator/(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:84: warning: Member Forward() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:85: warning: Member Up() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:86: warning: Member Right() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:132: warning: Member operator-=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:137: warning: Member operator+=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:158: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:170: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:154: warning: Member operator*(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:166: warning: Member operator/(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented. +t f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented. +d:/PlatformIO/linear-algebra/Vector3.h:166: warning: Member operator/(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented. diff --git a/ControlCore/LinearAlgebra/DoxyGen/Doxyfile b/ControlCore/LinearAlgebra/DoxyGen/Doxyfile new file mode 100644 index 0000000..335a8f2 --- /dev/null +++ b/ControlCore/LinearAlgebra/DoxyGen/Doxyfile @@ -0,0 +1,2684 @@ +# Doxyfile 1.9.2 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = LinearAlgebra + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = //intranet/web/apis/LinearAlgebra + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = YES + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 0 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = YES + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = YES + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = NO + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = NO + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = DoxyWarnLogfile.txt + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = .. \ + ../README.md + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, +# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C +# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.l \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = gtest*, googletest* + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = images \ + . + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS +# tag is set to YES then doxygen will add the directory of each input to the +# include path. +# The default value is: YES. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = . + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = custom_doxygen.css + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 35 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 0 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 103 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATOR_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /