init c++

.github/workflows/python.yaml

@@ -18,6 +18,7 @@ jobs:
             - name: Install packages
               run: |
                 echo "Installing dependencies"
+                cd python
                 python3 -m venv .venv
                 source .venv/bin/activate
                 pip install -U pip setuptools wheel poetry pytest

cpp/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.25)
+PROJECT(rk45 VERSION "2023.08.24.0")
+
+include(FetchContent)
+
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+if(PROJECT_IS_TOP_LEVEL)
+    cmake_host_system_information(RESULT HOST QUERY HOSTNAME)
+    # cmake_host_system_information(RESULT CORES QUERY NUMBER_OF_LOGICAL_CORES)
+    cmake_host_system_information(RESULT OSN QUERY OS_NAME)
+    cmake_host_system_information(RESULT OS_VERSION QUERY OS_RELEASE)
+    cmake_host_system_information(RESULT PROC QUERY PROCESSOR_DESCRIPTION)
+
+    message(STATUS "-------------------------------------")
+    message(STATUS "  Project: ${PROJECT_NAME}")
+    message(STATUS "  C++ ${CMAKE_CXX_STANDARD}")
+    message(STATUS "-------------------------------------")
+    message(STATUS " ${HOST}")
+    message(STATUS " ${OSN}: ${OS_VERSION}")
+    message(STATUS " ${PROC}")
+    message(STATUS "-------------------------------------")
+
+    set(BUILD_EXAMPLES ON)
+    set(BUILD_GTESTS ON)
+
+    # GTest -----------------
+    FetchContent_Declare(gtest
+        # GIT_REPOSITORY "https://github.com/google/googletest"
+        # GIT_TAG "origin/main"
+        URL https://github.com/google/googletest/archive/refs/tags/v1.14.0.zip
+    )
+    list(APPEND libs gtest)
+else()
+    message(STATUS "-> ${PROJECT_NAME} is submodule")
+    set(BUILD_EXAMPLES OFF)
+    set(BUILD_GTESTS OFF)
+endif()
+
+# if other fetched content, append them to libs too
+# list(APPEND libs)
+
+FetchContent_MakeAvailable( ${libs} )
+
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE src/)
+# target_link_libraries(${PROJECT_NAME} INTERFACE library1 library2 ... ) # don't add gtest here
+
+# Examples -----------------------------------------------------------
+message(STATUS "Building ${PROJECT_NAME} examples is ${BUILD_EXAMPLES}")
+if(${BUILD_EXAMPLES})
+    add_subdirectory(examples)
+endif()
+
+# Tests --------------------------------------------------------------
+message(STATUS "Building ${PROJECT_NAME} gtests is ${BUILD_GTESTS}")
+if(${BUILD_GTESTS})
+    add_subdirectory(gtests)
+endif()

cpp/examples/CMakeLists.txt

@@ -0,0 +1,9 @@
+list(APPEND examples
+    main
+)
+
+# message(STATUS "Examples ----------------------")
+foreach(app ${examples})
+    add_executable(${app} ${app}.cpp)
+    target_link_libraries(${app} ${PROJECT_NAME})
+endforeach()

cpp/examples/main.cpp

@@ -0,0 +1,5 @@
+
+
+int main() {
+  return 0;
+}

cpp/gtests/CMakeLists.txt

@@ -0,0 +1,12 @@
+
+enable_testing()
+
+list(APPEND gtests
+    main.cpp
+)
+
+# run all tests
+add_executable(test-all ${gtests})
+target_link_libraries(test-all GTest::gtest_main ${PROJECT_NAME})
+include(GoogleTest)
+gtest_discover_tests(test-all)

cpp/gtests/main.cpp

@@ -0,0 +1,9 @@
+#include <gtest/gtest.h>
+
+// Demonstrate some basic assertions.
+TEST(gciSensors, dummy) {
+  // Expect two strings not to be equal.
+  EXPECT_STRNE("hello", "world");
+  // Expect equality.
+  EXPECT_EQ(7 * 6, 42);
+}

cpp/readme.md

@@ -0,0 +1,24 @@
+# Runge Kutta
+
+# MIT License
+
+**Copyright (c) 2015 Kevin J. Walchko**
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

cpp/src/rk.hpp

@@ -0,0 +1,7 @@
+
+
+#pragma once
+
+class RK45 {
+  public:
+};

python/readme.md

@@ -0,0 +1,102 @@
+![Header pic](https://github.com/walchko/pyrk/raw/master/pics/math2.jpg)
+
+# Runge-Kutta
+
+[![Actions Status](https://github.com/walchko/pyrk/workflows/pytest/badge.svg)](https://github.com/walchko/pyrk/actions)
+![PyPI - License](https://img.shields.io/pypi/l/pyrk.svg)
+![PyPI - Python Version](https://img.shields.io/pypi/pyversions/pyrk.svg)
+![PyPI - Format](https://img.shields.io/pypi/format/pyrk.svg)
+![PyPI](https://img.shields.io/pypi/v/pyrk.svg)
+
+A simple implementation of
+[Runge-Kutta](https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods)
+for python.
+
+## Usage
+
+Integrates a function x_dot = f(time, x, u). See the examples in the
+[docs](https://github.com/walchko/pyrk/blob/master/doc/runge-kutta.ipynb)
+folder or a simple one:
+
+``` python
+from pyrk import RK4
+import numpy as np
+import matplotlib.pyplot as plt
+
+def vanderpol(t, xi, u):
+    dx, x = xi
+    mu = 4.0 # damping
+
+    ddx = mu*(1-x**2)*dx-x
+    dx = dx
+
+    return np.array([ddx, dx])
+
+rk = RK4(vanderpol)
+t, y = rk.solve(np.array([0, 1]), .01, 200)
+
+y1 = []
+y2 = []
+for v in y:
+    y1.append(v[0])
+    y2.append(v[1])
+
+plt.plot(y1, y2)
+plt.ylabel('velocity')
+plt.xlabel('position')
+plt.grid(True)
+plt.show()
+```
+
+## Alternative
+
+If you want to use `scipy` (which is good, but big), you can do:
+
+```python
+from scipy.integrate import solve_ivp as rk45
+
+def func(t,x,u):
+    # cool differential equations
+    # ...
+    return x
+
+t = 0
+dt = 0.01
+y = np.array([0,0,0]) # initial state
+
+for _ in tqdm(range(steps)):
+    u = np.array([1,2,3]) # some inputs to func (i.e., control effort)
+
+    y = rk45(func, [t, t+step], y, args=(u,))
+
+    if y.success == False:
+        print("Oops")
+
+    y = y.y[:,-1]
+
+    # probably save t, u and y into arrays for plotting
+    t += step
+```
+
+# MIT License
+
+**Copyright (c) 2015 Kevin J. Walchko**
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

readme.md

@@ -1,82 +1,4 @@
-![Header pic](https://github.com/walchko/pyrk/raw/master/pics/math2.jpg)
-
-# Runge-Kutta
-
-[![Actions Status](https://github.com/walchko/pyrk/workflows/pytest/badge.svg)](https://github.com/walchko/pyrk/actions)
-![PyPI - License](https://img.shields.io/pypi/l/pyrk.svg)
-![PyPI - Python Version](https://img.shields.io/pypi/pyversions/pyrk.svg)
-![PyPI - Format](https://img.shields.io/pypi/format/pyrk.svg)
-![PyPI](https://img.shields.io/pypi/v/pyrk.svg)
-
-A simple implementation of
-[Runge-Kutta](https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods)
-for python.
-
-## Usage
-
-Integrates a function x_dot = f(time, x, u). See the examples in the
-[docs](https://github.com/walchko/pyrk/blob/master/doc/runge-kutta.ipynb)
-folder or a simple one:
-
-``` python
-from pyrk import RK4
-import numpy as np
-import matplotlib.pyplot as plt
-
-def vanderpol(t, xi, u):
-    dx, x = xi
-    mu = 4.0 # damping
-
-    ddx = mu*(1-x**2)*dx-x
-    dx = dx
-
-    return np.array([ddx, dx])
-
-rk = RK4(vanderpol)
-t, y = rk.solve(np.array([0, 1]), .01, 200)
-
-y1 = []
-y2 = []
-for v in y:
-    y1.append(v[0])
-    y2.append(v[1])
-
-plt.plot(y1, y2)
-plt.ylabel('velocity')
-plt.xlabel('position')
-plt.grid(True)
-plt.show()
-```
-
-## Alternative
-
-If you want to use `scipy` (which is good, but big), you can do:
-
-```python
-from scipy.integrate import solve_ivp as rk45
-
-def func(t,x,u):
-    # cool differential equations
-    # ...
-    return x
-
-t = 0
-dt = 0.01
-y = np.array([0,0,0]) # initial state
-
-for _ in tqdm(range(steps)):
-    u = np.array([1,2,3]) # some inputs to func (i.e., control effort)
-
-    y = rk45(func, [t, t+step], y, args=(u,))
-
-    if y.success == False:
-        print("Oops")
-
-    y = y.y[:,-1]
-
-    # probably save t, u and y into arrays for plotting
-    t += step
-```
+# Runge Kutta
 
 # MIT License
 
@@ -99,4 +21,4 @@ MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
-SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.