--- /dev/null
+# SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+#
+# SPDX-License-Identifier: CC0-1.0
+
+root = true
+
+[*.{cc,hh}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = tab
+indent_size = 8
+max_line_length = 80
+
+[*.{py,md}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = space
+indent_size = 4
+max_line_length = 80
--- /dev/null
+# SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+#
+# SPDX-License-Identifier: CC0-1.0
+
+build
+docs-out
+*.swp
--- /dev/null
+Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: BCar
+Upstream-Contact: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+Source: https://rtime.ciirc.cvut.cz/gitweb/hubacji1/bcar.git
+
+# Sample paragraph, commented out:
+#
+# Files: src/*
+# Copyright: $YEAR $NAME <$CONTACT>
+# License: ...
--- /dev/null
+# SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+#
+# SPDX-License-Identifier: GPL-3.0-only
+
+cmake_minimum_required(VERSION 3.8)
+project(bcar)
+
+set(CMAKE_CXX_STANDARD 17)
+# Require compiler version (g++ >= 7 tested)
+if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7)
+ message(FATAL_ERROR "GCC version must be at least 7!")
+endif()
+
+#set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_DEBUG} -fno-omit-frame-pointer -fsanitize=address")
+#set (CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS_DEBUG} -fno-omit-frame-pointer -fsanitize=address")
+
+add_compile_options(-Wall -Wextra -pedantic -Werror)
+
+add_library(bcar STATIC src/bcar.cc)
+target_include_directories(bcar PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/incl)
+
+add_library(pslot STATIC src/pslot.cc)
+target_include_directories(pslot PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/incl)
+target_link_libraries(pslot bcar)
+
+add_executable(compute_pslot_table src/compute_pslot_table.cc)
+target_link_libraries(compute_pslot_table pslot)
+
+add_executable(prove_parallel_slot src/prove_parallel_slot.cc)
+target_link_libraries(prove_parallel_slot pslot)
+
+add_executable(entry_positions_range src/entry_positions_range.cc)
+target_link_libraries(entry_positions_range pslot)
+
+add_executable(compare_to_vorobieva src/compare_to_vorobieva.cc)
+target_link_libraries(compare_to_vorobieva pslot)
+
+add_executable(compare_to_zips src/compare_to_zips.cc)
+target_link_libraries(compare_to_zips pslot)
+
+add_executable(compare_to_li src/compare_to_li.cc)
+target_link_libraries(compare_to_li pslot)
+
+add_executable(gen_for_gnuplot src/gen_for_gnuplot.cc)
+target_link_libraries(gen_for_gnuplot pslot)
+
+if (SKIP_UT)
+ return()
+endif()
+add_executable(ut
+ wvtest/cpp/wvtestmain.cc
+ wvtest/cpp/wvtest.cc
+ ut/bcar.t.cc
+ ut/pslot.t.cc
+)
+target_compile_definitions(ut PRIVATE WVTEST_CONFIGURED)
+target_include_directories(ut PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/wvtest/cpp)
+target_link_libraries(ut bcar pslot)
+add_custom_command(TARGET ut
+ POST_BUILD COMMAND ./wvtestrun ../build/ut
+ WORKING_DIRECTORY ../wvtest
+)
--- /dev/null
+# SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+#
+# SPDX-License-Identifier: GPL-3.0-only
+#
+
+# Doxyfile 1.8.13
+
+# 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 config 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 http://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 = "BCar"
+
+# 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 = 0.11.0
+
+# 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 =
+
+# 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 = docs-out
+
+# 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 = NO
+
+# 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 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
+
+# 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 = 8
+
+# 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:\n"
+# 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:". You can put \n's in the value part of an alias to insert
+# newlines.
+
+ALIASES =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST =
+
+# 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
+
+# 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,
+# C#, C, C++, D, PHP, Objective-C, Python, 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), VHDL. 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.
+
+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 http://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: 0.
+# 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:
+# http://www.riverbankcomputing.co.uk/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
+
+#---------------------------------------------------------------------------
+# 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 = YES
+
+# 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 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 = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) 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 = NO
+
+# 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
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = YES
+
+# 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_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 = YES
+
+# 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 <section_label> ... \endif and \cond <section_label>
+# ... \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 = YES
+
+# 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 = YES
+
+# 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.
+#
+# 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 http://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 not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = 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 or incomplete
+# parameter documentation, but not about the absence of documentation.
+# 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.
+# 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 =
+
+#---------------------------------------------------------------------------
+# 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 incl/ src/
+
+# 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: http://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.
+#
+# 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++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
+
+FILE_PATTERNS = *.c \
+ *.cc \
+ *.cxx \
+ *.cpp \
+ *.c++ \
+ *.java \
+ *.ii \
+ *.ixx \
+ *.ipp \
+ *.i++ \
+ *.inl \
+ *.idl \
+ *.ddl \
+ *.odl \
+ *.h \
+ *.hh \
+ *.hxx \
+ *.hpp \
+ *.h++ \
+ *.cs \
+ *.d \
+ *.php \
+ *.php4 \
+ *.php5 \
+ *.phtml \
+ *.inc \
+ *.m \
+ *.markdown \
+ *.md \
+ *.mm \
+ *.dox \
+ *.py \
+ *.pyw \
+ *.f90 \
+ *.f95 \
+ *.f03 \
+ *.f08 \
+ *.f \
+ *.for \
+ *.tcl \
+ *.vhd \
+ *.vhdl \
+ *.ucf \
+ *.qsf
+
+# 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 = NO
+
+# 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 =
+
+# 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 =
+
+# 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:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> 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 = README.md
+
+#---------------------------------------------------------------------------
+# 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
+# function 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 http://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 config 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 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 =
+
+#---------------------------------------------------------------------------
+# 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
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX = 5
+
+# 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 = html
+
+# 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 =
+
+# 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 = LICENSE
+
+# 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 colorwheel, see
+# http://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 = 220
+
+# 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 grayscales 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 = 100
+
+# 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 = 80
+
+# 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_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: http://developer.apple.com/tools/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 http://developer.apple.com/tools/creatingdocsetswithdoxygen.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
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# 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 master .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: http://qt-project.org/doc/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: http://qt-project.org/doc/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: http://qt-project.org/doc/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: http://qt-project.org/doc/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:
+# http://qt-project.org/doc/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 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. 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
+
+# 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
+
+# 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_TRANPARENT 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
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://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
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) 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 http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# 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/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 <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX 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: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. 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).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF 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: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages 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: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages 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: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
+# structure of the code including all documentation. Note that this feature is
+# still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of 'which perl').
+# The default file (with absolute path) is: /usr/bin/perl.
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see:
+# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: YES.
+
+HAVE_DOT = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS = 0
+
+# When you want a differently looking font in the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
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--- /dev/null
+LICENSES/GPL-3.0-only.txt
\ No newline at end of file
--- /dev/null
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--- /dev/null
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+
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+
+12. No Surrender of Others' Freedom.
+If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.
+
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+
+END OF TERMS AND CONDITIONS
+
+How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.
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+
+Also add information on how to contact you by electronic and paper mail.
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+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.
+
+You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see <http://www.gnu.org/licenses/>.
+
+The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read <http://www.gnu.org/philosophy/why-not-lgpl.html>.
--- /dev/null
+<!--
+SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+
+SPDX-License-Identifier: GPL-3.0-only
+-->
+
+BCar
+====
+
+BCar is a C++ library with some geometric bicycle car computations.
+
+License
+-------
+
+The project is published under [GNU GPLv3][1].
+
+[1]: ./LICENSE
+
+Build
+-----
+
+To build the project run the following commands:
+
+ mkdir build
+ cd build
+ cmake ../
+ make
+
+To build with ninja:
+
+ mkdir build
+ cd build
+ cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
+ ninja -v
+
+Contribute
+----------
+
+When adding feature or hotfix, use [Test-driven development][2]:
+
+1. Add tests to `ut` folder, add methods declaration, basic structure.
+2. Run tests (just `make` in `build` folder), check that tests *fail*.
+3. Implement functionality.
+4. Run tests, check that tests *pass*.
+5. Refactor.
+
+Write [great git commit messages][5]:
+
+1. Separate subject from body with a blank line.
+2. Limit the subject line to 50 characters.
+3. Capitalize the subject line.
+4. Do not end the subject line with a period.
+5. Use the imperative mood in the subject line.
+6. Wrap the body at 72 characters.
+7. Use the body to explain what and why vs. how.
+
+[2]: https://en.wikipedia.org/wiki/Test-driven_development
+[5]: https://chris.beams.io/posts/git-commit/
+
+
+Use [git send-email][6]:
+
+ git config format.subjectPrefix "PATCH bcar"
+ git config sendemail.to "jiri.vlasak.2@cvut.cz"
+
+[6]: https://git-send-email.io/
+
+Documentation
+-------------
+
+The documentation is generated by Doxygen, at least version `1.8.15` is needed.
+Just run `doxygen` in the project root directory.
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file */
+#ifndef BCAR_BCAR_H
+#define BCAR_BCAR_H
+
+#include <ostream>
+#include <vector>
+
+namespace bcar {
+
+template <typename T> int sgn(T val) {
+ return (T(0) < val) - (val < T(0));
+}
+
+class Line;
+
+class Point {
+private:
+ double _x = 0.0;
+ double _y = 0.0;
+public:
+ Point();
+ Point(double x, double y);
+
+ /*! Get horizontal coordinate. */
+ double x() const;
+
+ /*! Set horizontal coordinate. */
+ void x(double x);
+
+ /*! Get vertical coordinate. */
+ double y() const;
+
+ /*! Set vertical coordinate. */
+ void y(double y);
+
+ /*! \brief Return the smallest angle between three points.
+
+ \see https://math.stackexchange.com/questions/361412/finding-the-angle-between-three-points
+ */
+ double min_angle_between(Point const& p1, Point const& p2) const;
+
+ /*! \brief Return `true` if `this` point is inside of polygon `poly`.
+ *
+ * The polygon is given by the vector of `Point`s.
+ *
+ * \see https://en.wikipedia.org/wiki/Even%E2%80%93odd_rule
+ *
+ * \param poly Polygon to consider.
+ */
+ bool inside_of(std::vector<Point> const& poly) const;
+
+ /*! \brief Return `true` if `this` point is inside the circle `c`, `r`.
+ *
+ * \see * https://math.stackexchange.com/questions/198764/how-to-know-if-a-point-is-inside-a-circle#198769
+ */
+ bool inside_of(Point const& c, double const r) const;
+
+ /*! \brief Return `true` if on the right side of the plane.
+ *
+ * The plane is given by the line `li`, where `li->b()` is the base
+ * point and the direction is given by `li->e() - li->b()`.
+ *
+ * \param li The plane to consider is given by `li`.
+ */
+ bool on_right_side_of(Line const& li) const;
+
+ /*! \brief Translate self.
+ *
+ * \param p `Point` offset to translate by.
+ */
+ void translate(Point const& p);
+
+ /*! \brief Rotate self around the point.
+
+ \param c Rotation center `Point`.
+ \param angl Angle of rotation.
+ */
+ void rotate(Point const& c, double const angl);
+
+ /*! \brief Compute reflection of `this` around the `Line`.
+ *
+ * \param li The plane to reflect around is given by `li`.
+ */
+ void reflect(Line const& li);
+
+ /*! Return Euclidean distance to `p`. */
+ double edist(Point const& p) const;
+
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
+ bool operator==(Point const& p);
+ friend std::ostream& operator<<(std::ostream& out, Point const& p);
+};
+
+class Line {
+private:
+ Point _b;
+ Point _e;
+ Point _i1;
+ Point _i2;
+public:
+ Line(Point const& fp, Point const& lp);
+
+ /*! Get beginning point. */
+ Point b() const&;
+
+ /*! Get end point. */
+ Point e() const&;
+
+ /*! Get middle point. */
+ Point m() const;
+
+ /*! Get intersection point. */
+ Point i1() const&;
+
+ /*! Get intersection point. */
+ Point i2() const&;
+
+ /*! \brief Return if `this` line intersects with line `li`.
+ *
+ * If the method returns `true`, the intersection `Point` is available
+ * in `this->i1()`.
+ *
+ * \see https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection
+ *
+ * \param li The line to check the intersection with.
+ */
+ bool intersects_with(Line const& li);
+
+ /*! \brief Return intersections of `this` (infinite) line and circle.
+ *
+ * If the method returns `true`, the intersection `Point`s are available
+ * in `this->i1()` and `this->i2()`.
+ *
+ * \see https://mathworld.wolfram.com/Circle-LineIntersection.html
+ *
+ * \param c Circle center.
+ * \param r Circle radius.
+ */
+ bool intersects_with(Point const& c, double const r);
+
+ double len() const;
+
+ double h() const;
+
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
+ friend std::ostream& operator<<(std::ostream& out, Line const& li);
+};
+
+/*! Store coordinates `x`, `y`, and heading `h`. */
+class Pose : public virtual Point {
+private:
+ double _h = 0.0;
+public:
+ using Point::Point;
+ Pose(double x, double y, double h);
+
+ /*! Get heading in the interval [-pi, +pi] radians. */
+ double h() const;
+
+ /*! Set heading in radians. It's recomputed to [-pi, +pi]. */
+ void h(double h);
+
+ /*! Set pose (`x`, `y`, and `h`.) */
+ void set_pose(Pose const& p);
+
+ void rotate(Point const& c, double const angl);
+
+ void reflect(Line const& li);
+
+ bool operator==(Pose const& p);
+ friend std::ostream& operator<<(std::ostream& out, Pose const& p);
+};
+
+class PoseRange : public virtual Pose {
+private:
+ Pose _bp;
+ Pose _ep;
+ void set_xyh();
+public:
+ PoseRange(Pose bp, Pose ep);
+ PoseRange(double x, double y, double b, double e);
+
+ Pose bp() const;
+ Pose ep() const;
+
+ /*! Get heading's begin in the interval [-pi, +pi] radians. */
+ double b() const;
+
+ /*! Get heading's end in the interval [-pi, +pi] radians. */
+ double e() const;
+
+ void translate(Point const& p);
+ void rotate(Point const& c, double const angl);
+ void reflect(Line const& li);
+
+ friend std::ostream& operator<<(std::ostream& out, PoseRange const& p);
+};
+
+/*! \brief Store car size.
+ *
+ * - The default is Renault ZOE (www.car.info)
+ */
+class CarSize {
+private:
+ double _curb_to_curb = 10.802166641822163;
+ double _width_with_mirrors = 1.945;
+ double _width = 1.771;
+ double _wheelbase = 2.588;
+ double _distance_to_front = 3.427;
+ double _length = 4.084;
+ double _front_track = 1.511;
+public:
+ /*! Get curb-to-curb distance. */
+ double ctc() const;
+
+ /*! Set curb-to-curb distance. */
+ void ctc(double ctc);
+
+ /*! Get wheelbase. */
+ double wb() const;
+
+ /*! Set wheelbase. */
+ void wb(double wb);
+
+ /*! Get width. */
+ double w() const;
+
+ /*! Set width. */
+ void w(double w);
+
+ /*! Get width with mirrors. */
+ double wwm() const;
+
+ /*! Set width with mirrors. */
+ void wwm(double w);
+
+ /*! Get length. */
+ double len() const;
+
+ /*! Set length. */
+ void len(double len);
+
+ /*! Get distance from rear axle to front. */
+ double df() const;
+
+ /*! Set distance from rear axle to front. */
+ void df(double df);
+
+ /*! Get distance from rear axle to rear. */
+ double dr() const;
+
+ /*! Set front track. */
+ void ft(double ft);
+
+ /*! Get front track. */
+ double ft() const;
+
+ /*! Return rear axle center to right rear corner Euclidean distance. */
+ double edist_to_rr() const;
+
+ /*! Return rear axle center to left front corner Euclidean distance. */
+ double edist_to_lf() const;
+
+ /*! \brief Get minimum turning radius.
+ *
+ * Please, note that the method returns really _minimum turning radius_,
+ * which is the distance from the rear axle center to the center of
+ * left or right rotation given by the kinematics constrants, i.e.
+ * _wheelbase and _curb-to-curb_ distance.
+ *
+ * Sometimes _minimum turning _radius is not radius, not minimum, or not
+ * turning. In this method, _minimum turning _radius is minimum turning
+ * radius.
+ */
+ double mtr() const;
+
+ /*! \brief Return inner radius.
+ *
+ * The inner radius is the distance from minimum turning radius circle
+ * center to the nearest point on the car. In this case, the nearest
+ * points on the car are rear axle endpoints.
+ */
+ double iradi() const;
+
+ /*! \brief Return outer front radius.
+ *
+ * The outer front radius is the distance from minimum turning radius
+ * circle center to the farthest point on the front (from the rear axle
+ * view) part of the car.
+ */
+ double ofradi() const;
+
+ /*! \brief Return outer rear radius.
+ *
+ * The outer rear radius is the distance from minimum turning radius
+ * circle center to the farthest point on the rear (from the rear axle
+ * view) part of the car.
+ */
+ double orradi() const;
+
+ /*! \brief Return inner mirror radius.
+ *
+ * The inner mirror radius is the distance from minimum turning radius
+ * circle center to the farther mirror (from the rear axle view).
+ */
+ double imradi() const;
+
+ /*! \brief Return outer mirror radius.
+ *
+ * The outer mirror radius is the distance from minimum turning radius
+ * circle center to the farther mirror (from the rear axle view).
+ */
+ double omradi() const;
+
+ /*! \brief Return length of perfect parking slot.
+ *
+ * The width of the slot is the same as the width of the car.
+ *
+ * \see Simon R. Blackburn *The Geometry of Perfect Parking*
+ * \see https://www.ma.rhul.ac.uk/SRBparking
+ */
+ double perfect_parking_slot_len() const;
+};
+
+/*! Store car motion. */
+class CarMove {
+private:
+ double _speed = 0.0;
+ double _steer = 0.0;
+public:
+ /*! Get speed. */
+ double sp() const;
+
+ /*! Set speed. */
+ void sp(double sp);
+
+ /*! Get steer. */
+ double st() const;
+
+ /*! Set steer. */
+ void st(double st);
+};
+
+/*! \brief Geometrical computations of a bicycle car.
+ *
+ * - `x()` and `y()` methods returns coordinates of rear axle center.
+ */
+class BicycleCar : public virtual Pose, public virtual CarSize,
+ public virtual CarMove {
+private:
+public:
+ /*! \brief Return `true` if `this` can drive to `p` trivially.
+ *
+ * Trivially means that `this` can drive to `p` by line segment - circle
+ * arc - line segment.
+ *
+ * \param p `PoseRange` (resp. `Pose`) to achieve.
+ */
+ bool drivable(PoseRange const& p) const;
+ bool drivable(Pose const& p) const;
+
+ /*! Set maximum steering angle. */
+ void set_max_steer();
+
+ /*! Get frame's left front x coordinate. */
+ double lfx() const;
+
+ /*! Get frame's left front y coordinate. */
+ double lfy() const;
+
+ /*! Get frame's left rear x coordinate. */
+ double lrx() const;
+
+ /*! Get frame's left rear y coordinate. */
+ double lry() const;
+
+ /*! Get frame's right rear x coordinate. */
+ double rrx() const;
+
+ /*! Get frame's right rear y coordinate. */
+ double rry() const;
+
+ /*! Get frame's right front x coordinate. */
+ double rfx() const;
+
+ /*! Get frame's right front y coordinate. */
+ double rfy() const;
+
+ /*! Get frame's left front point. */
+ Point lf() const;
+
+ /*! Get frame's left rear point. */
+ Point lr() const;
+
+ /*! Get frame's right rear point. */
+ Point rr() const;
+
+ /*! Get frame's right front point. */
+ Point rf() const;
+
+ /*! Get frame's left side. */
+ Line left() const;
+
+ /*! Get frame's rear side. */
+ Line rear() const;
+
+ /*! Get frame's right side. */
+ Line right() const;
+
+ /*! Get frame's front side. */
+ Line front() const;
+
+ /*! Get frame's left rear axle x coordinate. */
+ double lrax() const;
+
+ /*! Get frame's left rear axle y coordinate. */
+ double lray() const;
+
+ /*! Get frame's right rear axle x coordinate. */
+ double rrax() const;
+
+ /*! Get frame's right rear axle y coordinate. */
+ double rray() const;
+
+ /*! Get frame's left rear axle point. */
+ Point lra() const;
+
+ /*! Get frame's right rear axle point. */
+ Point rra() const;
+
+ /*! Get frame's left front axle x coordinate. */
+ double lfax() const;
+
+ /*! Get frame's left front axle y coordinate. */
+ double lfay() const;
+
+ /*! Get frame's right front axle x coordinate. */
+ double rfax() const;
+
+ /*! Get frame's right front axle y coordinate. */
+ double rfay() const;
+
+ /*! Get iframe's left front axle point. */
+ Point lfa() const;
+
+ /*! Get frame's right front axle point. */
+ Point rfa() const;
+
+ /*! Get frame's left front mirror x coordinate. */
+ double lfmx() const;
+
+ /*! Get frame's left front mirror y coordinate. */
+ double lfmy() const;
+
+ /*! Get frame's right front mirror x coordinate. */
+ double rfmx() const;
+
+ /*! Get frame's right front mirror y coordinate. */
+ double rfmy() const;
+
+ /*! Get iframe's left front mirror point. */
+ Point lfm() const;
+
+ /*! Get frame's right front mirror point. */
+ Point rfm() const;
+
+ /*! Get frame's center front x coordinate. */
+ double cfx() const;
+
+ /*! Get frame's center front y coordinate. */
+ double cfy() const;
+
+ /*! Get frame's center front point. */
+ Point cf() const;
+
+ /*! Min. turning radius circle center on left. */
+ Point ccl() const;
+
+ /*! Min. turning radius circle center on rigth. */
+ Point ccr() const;
+
+ /*! Next car position based on speed `sp` and steer `st`. */
+ void next();
+
+ /*! Options for generating output for gnuplot. */
+ class GenPlotOpts {
+ public:
+ bool LF_POINT = false;
+ bool LR_POINT = false;
+ bool RR_POINT = false;
+ bool RF_POINT = false;
+ bool LFM_POINT = false;
+ bool RFM_POINT = false;
+ bool CRA_POINT = false;
+ bool CAR_POINT = false;
+ bool LRA_POINT = false;
+ bool RRA_POINT = false;
+
+ bool LEFT = false;
+ bool RIGHT = false;
+ bool REAR = false;
+ bool FRONT = false;
+ bool FRAME = false; // LEFT, RIGHT, REAR, FRONT
+ bool ARROW = false;
+ bool CROSS = false;
+ bool CAR = false; // CROSS, ARROW, FRAME
+ bool LEFT_MIRROR = false;
+ bool RIGHT_MIRROR = false;
+ bool MIRRORS = false; // RIGHT_MIRROR, LEFT_MIRROR
+ bool ALL = true; // MIRRORS, CAR
+ };
+
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out, GenPlotOpts opts);
+};
+
+} // namespace bcar
+#endif /* BCAR_BCAR_H */
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file */
+#ifndef BCAR_PSLOT_H
+#define BCAR_PSLOT_H
+
+#include <ostream>
+#include <vector>
+#include "bcar.hh"
+
+namespace bcar {
+
+/*! \brief Parking slot basic class.
+ *
+ * This class contains some geometrical computations of parking slot. Parking
+ * slot consists of 4 cartesian coordinates `border` representing the border of
+ * the parking slot.
+ */
+class ParkingSlot {
+private:
+ double _offset = 0.001; // to avoid collision during init
+ double _parking_speed = -0.1;
+ unsigned int _max_cusp = 10;
+ double _delta_angle_to_slot = 0.001;
+ Point _border[4];
+ Line _entry;
+ Line _rear;
+ Line _curb;
+ Line _front;
+public:
+ std::vector<std::vector<BicycleCar>> _ispaths;
+ std::vector<BicycleCar> _entries;
+ /*! \brief Set parking slot.
+
+ \param p Point with `x`, `y` coordinates of entry side's corner.
+ \param h Direction of the entry side.
+ \param W The width of the slot.
+ \param L The length of the slot.
+ */
+ ParkingSlot(Point p, double h, double W, double L);
+ ParkingSlot(double lrx, double lry, double rrx, double rry, double rfx,
+ double rfy, double lfx, double lfy);
+
+ /*! Get slot's length. */
+ double len() const;
+
+ /*! Get slot's width. */
+ double w() const;
+
+ /*! Get slot's left front x coordinate. */
+ double lfx() const;
+
+ /*! Get slot's left front y coordinate. */
+ double lfy() const;
+
+ /*! Get slot's left rear x coordinate. */
+ double lrx() const;
+
+ /*! Get slot's left rear y coordinate. */
+ double lry() const;
+
+ /*! Get slot's right rear x coordinate. */
+ double rrx() const;
+
+ /*! Get slot's right rear y coordinate. */
+ double rry() const;
+
+ /*! Get slot's right front x coordinate. */
+ double rfx() const;
+
+ /*! Get slot's right front y coordinate. */
+ double rfy() const;
+
+ /*! Return parking slot's orientation. */
+ double h() const;
+
+ /*! Get parking slot's left front point. */
+ Point lf() const;
+
+ /*! Get parking slot's left rear point. */
+ Point lr() const;
+
+ /*! Get parking slot's right rear point. */
+ Point rr() const;
+
+ /*! Get parking slot's right front point. */
+ Point rf() const;
+
+ /*! Get parking slot's entry side. */
+ Line entry() const;
+
+ /*! Get parking slot's rear side. */
+ Line rear() const;
+
+ /*! Get parking slot's curb side. */
+ Line curb() const;
+
+ /*! Get parking slot's front side. */
+ Line front() const;
+
+ /*! Car's next iteration distance. (Negative for backward.) */
+ void set_parking_speed(double s);
+
+ /*! Maximum allowed number of cusp inside the parking slot. */
+ unsigned int get_max_cusp() const;
+ void set_max_cusp(unsigned int m);
+
+ /*! Angle's increment when creating start positions. */
+ void set_delta_angle_to_slot(double d);
+
+ /*! Return `true` for the parallel parking slot. */
+ bool parallel() const;
+
+ /*! Return `true` for the parking slot on the right side. */
+ bool right() const;
+
+ /*! Change side of the parking slot. */
+ void swap_side();
+
+ /*! Return `true` if car `c` is parking in slot `this`. */
+ bool parked(BicycleCar const& c) const;
+
+ /*! Return `true` if `c`'s car frame collide with `this` border. */
+ bool collide(BicycleCar const& c) const;
+
+ /*! \brief Set car `c` to the start position.
+ *
+ * \param c Bicycle car.
+ */
+ void set_to_start(BicycleCar& c);
+
+ /*! \brief Drive car `c` into the parking slot `this`.
+ *
+ * \param c Starting bicycle car.
+ */
+ std::vector<BicycleCar> drive_in_slot(BicycleCar c);
+
+ /*! \brief Drive car `c` from slot.
+ *
+ * \param c Starting bicycle car.
+ */
+ std::vector<BicycleCar> drive_of_slot(BicycleCar c);
+
+ /*! \brief Steer car `c` into the parking slot `this`.
+ *
+ * `steer_in_slot` returns the complete path as the list of `Pose`s, not
+ * just cusp `BicycleCar`s as `drive_to_slot`.
+ *
+ * \param c Starting bicycle car.
+ */
+ std::vector<Pose> steer_in_slot(BicycleCar c);
+
+ /*! \brief Find entry.
+ *
+ * \param c For which `BicycleCar` should entry be found?
+ */
+ PoseRange fe(BicycleCar c);
+
+ /*! \brief Compute entries from `this->_ispaths`.
+ *
+ * The problem with in-slot paths is that car can't leave the parking
+ * slot with full rate to the right (for right sided parking slot.)
+ *
+ * The idea is to move the first cars of in-slot paths (the one that is
+ * computed as entry to the parking slot) with the full rate to the left
+ * until they can leave the parking slot with full rate to the right.
+ *
+ * The computed cars are stored in `this->_entries`.
+ */
+ void compute_entries();
+
+ /*! \brief Recompute zero slot's `PoseRange` entry for `this`.
+ *
+ * The _zero slot_ is the `ParkingSlot(Point(0.0, 0.0), 0.0, W, L);`.
+ *
+ * \param p Computed `PoseRange` entry.
+ */
+ PoseRange recompute_entry(PoseRange p);
+
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
+ friend std::ostream& operator<<(std::ostream& o, ParkingSlot const& s);
+};
+
+} // namespace bcar
+#endif /* BCAR_PSLOT_H */
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <cmath>
+#include "bcar.hh"
+
+namespace bcar {
+
+Point::Point()
+{
+}
+
+Point::Point(double x, double y) : _x(x), _y(y)
+{
+}
+
+double
+Point::x() const
+{
+ return this->_x;
+}
+
+void
+Point::x(double x)
+{
+ this->_x = x;
+}
+
+double
+Point::y() const
+{
+ return this->_y;
+}
+
+void
+Point::y(double y)
+{
+ this->_y = y;
+}
+
+double
+Point::min_angle_between(Point const& p1, Point const& p2) const
+{
+ double d1x = p1.x() - this->x();
+ double d1y = p1.y() - this->y();
+ double d2x = p2.x() - p1.x();
+ double d2y = p2.y() - p1.y();
+
+ double dot = d1x*d2x + d1y*d2y;
+ double d1 = sqrt(d1x*d1x + d1y*d1y);
+ double d2 = sqrt(d2x*d2x + d2y*d2y);
+
+ double delta = acos(dot / (d1 * d2));
+ return std::min(delta, M_PI - delta);
+}
+
+bool
+Point::inside_of(std::vector<Point> const& poly) const
+{
+ unsigned int num = poly.size();
+ unsigned int j = num - 1;
+ bool c = false;
+ for (unsigned int i = 0; i < num; i++) {
+ if (this->x() == poly[i].x() && this->y() == poly[i].y()) {
+ return true;
+ }
+ if ((poly[i].y() > this->y()) != (poly[j].y() > this->y())) {
+ auto slope1 = this->x() - poly[i].x();
+ slope1 *= poly[j].y() - poly[i].y();
+ auto slope2 = poly[j].x() - poly[i].x();
+ slope2 *= this->y() - poly[i].y();
+ auto slope = slope1 - slope2;
+ if (slope == 0.0) {
+ return true;
+ }
+ if ((slope < 0.0) != (poly[j].y() < poly[i].y())) {
+ c = !c;
+ }
+ }
+ j = i;
+ }
+ return c;
+}
+
+bool
+Point::inside_of(Point const& c, double const r) const
+{
+ double dx = this->x() - c.x();
+ double dy = this->y() - c.y();
+ return pow(dx, 2.0) + pow(dy, 2.0) < pow(r, 2.0);
+}
+
+bool
+Point::on_right_side_of(Line const& li) const
+{
+ auto x1 = li.b().x();
+ auto y1 = li.b().y();
+ auto x2 = li.e().x();
+ auto y2 = li.e().y();
+ auto x3 = this->_x;
+ auto y3 = this->_y;
+ if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
+ return false;
+ } else {
+ return true;
+ }
+}
+
+void
+Point::translate(Point const& p)
+{
+ this->_x += p.x();
+ this->_y += p.y();
+}
+
+void
+Point::rotate(Point const& c, double const angl)
+{
+ double px = this->x();
+ double py = this->y();
+ px -= c.x();
+ py -= c.y();
+ double nx = px * cos(angl) - py * sin(angl);
+ double ny = px * sin(angl) + py * cos(angl);
+ this->x(nx + c.x());
+ this->y(ny + c.y());
+}
+
+void
+Point::reflect(Line const& li)
+{
+ this->rotate(li.b(), -li.h());
+ this->_y -= li.b().y();
+ this->_y *= -1.0;
+ this->_y += li.b().y();
+ this->rotate(li.b(), li.h());
+}
+
+double
+Point::edist(Point const& p) const
+{
+ return sqrt(pow(p.x() - this->_x, 2.0) + pow(p.y() - this->_y, 2.0));
+}
+
+void
+Point::gen_gnuplot_to(std::ostream& out)
+{
+ out << this->_x << " " << this->_y << std::endl;
+}
+
+bool
+Point::operator==(Point const& p)
+{
+ return this->x() == p.x() && this->y() == p.y();
+}
+
+std::ostream&
+operator<<(std::ostream& out, Point const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "]";
+ return out;
+}
+
+Line::Line(Point const& b, Point const& e): _b(b), _e(e)
+{
+}
+
+Point
+Line::b() const&
+{
+ return this->_b;
+}
+
+Point
+Line::e() const&
+{
+ return this->_e;
+}
+
+Point
+Line::m() const
+{
+ return Point((this->_b.x() + this->_e.x()) / 2.0,
+ (this->_b.y() + this->_e.y()) / 2.0);
+}
+
+Point
+Line::i1() const&
+{
+ return this->_i1;
+}
+
+Point
+Line::i2() const&
+{
+ return this->_i2;
+}
+
+bool
+Line::intersects_with(Line const& li)
+{
+ auto x1 = this->_b.x();
+ auto y1 = this->_b.y();
+ auto x2 = this->_e.x();
+ auto y2 = this->_e.y();
+ auto x3 = li.b().x();
+ auto y3 = li.b().y();
+ auto x4 = li.e().x();
+ auto y4 = li.e().y();
+ double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
+ if (deno == 0.0) {
+ return false;
+ }
+ double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
+ t /= deno;
+ double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
+ u *= -1.0;
+ u /= deno;
+ if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
+ return false;
+ }
+ this->_i1.x(x1 + t * (x2 - x1));
+ this->_i1.y(y1 + t * (y2 - y1));
+ return true;
+}
+
+bool
+Line::intersects_with(Point const& c, double const r)
+{
+ auto x1 = this->_b.x();
+ auto y1 = this->_b.y();
+ auto x2 = this->_e.x();
+ auto y2 = this->_e.y();
+ auto cx = c.x();
+ auto cy = c.y();
+ x2 -= cx;
+ x1 -= cx;
+ y2 -= cy;
+ y1 -= cy;
+ if (y1 == y2) {
+ y1 += 0.00001;
+ }
+ double dx = x2 - x1;
+ double dy = y2 - y1;
+ double dr = sqrt(dx*dx + dy*dy);
+ double D = x1*y2 - x2*y1;
+ if (r*r * dr*dr - D*D < 0.0) {
+ return false;
+ }
+ // intersection coordinates
+ double ix1 = (D*dy + sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix1 += cx;
+ double ix2 = (D*dy - sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix2 += cx;
+ double iy1 = (-D*dx + std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ iy1 += cy;
+ double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ iy2 += cy;
+ this->_i1.x(ix1);
+ this->_i1.y(iy1);
+ this->_i2.x(ix2);
+ this->_i2.y(iy2);
+ return true;
+}
+
+double
+Line::len() const
+{
+ return this->_b.edist(this->_e);
+}
+
+double
+Line::h() const
+{
+ return atan2(this->_e.y() - this->_b.y(), this->_e.x() - this->_b.x());
+}
+
+void
+Line::gen_gnuplot_to(std::ostream& out)
+{
+ this->b().gen_gnuplot_to(out);
+ this->e().gen_gnuplot_to(out);
+ out << std::endl;
+}
+
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
+{
+ out << "[" << li._b << "," << li._e << "]";
+ return out;
+}
+
+Pose::Pose(double x, double y, double h) : Point(x, y), _h(h)
+{
+}
+
+double
+Pose::h() const
+{
+ return this->_h;
+}
+
+void
+Pose::h(double h)
+{
+ while (h < -M_PI) {
+ h += 2 * M_PI;
+ }
+ while (h > +M_PI) {
+ h -= 2 * M_PI;
+ }
+ this->_h = h;
+}
+
+void
+Pose::set_pose(Pose const& p)
+{
+ this->x(p.x());
+ this->y(p.y());
+ this->h(p.h());
+}
+
+void
+Pose::rotate(Point const& c, double const angl)
+{
+ Point::rotate(c, angl);
+ this->h(this->h() + angl);
+}
+
+void
+Pose::reflect(Line const& li)
+{
+ Point::reflect(li);
+ double dh = li.h() - this->h();
+ this->h(this->h() + 2.0 * dh);
+}
+
+bool
+Pose::operator==(Pose const& p)
+{
+ return this->x() == p.x() && this->y() == p.y() && this->h() == p.h();
+}
+
+std::ostream&
+operator<<(std::ostream& out, Pose const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "," << p.h() << "]";
+ return out;
+}
+
+void
+PoseRange::set_xyh()
+{
+ double clen = 10.0;
+ double bpbx = this->_bp.x() - clen * cos(this->_bp.h());
+ double bpby = this->_bp.y() - clen * sin(this->_bp.h());
+ double bpfx = this->_bp.x() + clen * cos(this->_bp.h());
+ double bpfy = this->_bp.y() + clen * sin(this->_bp.h());
+ Line li1(Point(bpbx, bpby), Point(bpfx, bpfy));
+ double epbx = this->_ep.x() - clen * cos(this->_ep.h());
+ double epby = this->_ep.y() - clen * sin(this->_ep.h());
+ double epfx = this->_ep.x() + clen * cos(this->_ep.h());
+ double epfy = this->_ep.y() + clen * sin(this->_ep.h());
+ Line li2(Point(epbx, epby), Point(epfx, epfy));
+ li1.intersects_with(li2);
+ this->x(li1.i1().x());
+ this->y(li1.i1().y());
+ double bh = this->b();
+ while (bh < 0.0) {
+ bh += 2.0 * M_PI;
+ }
+ this->_bp.h(bh);
+ double eh = this->e();
+ while (eh < 0.0) {
+ eh += 2.0 * M_PI;
+ }
+ this->_ep.h(eh);
+ this->h((this->b() + this->e()) / 2.0);
+}
+
+PoseRange::PoseRange(Pose bp, Pose ep) : _bp(bp), _ep(ep)
+{
+ if (this->_bp == this->_ep) {
+ this->set_pose(this->_ep);
+ } else {
+ this->set_xyh();
+ }
+}
+
+PoseRange::PoseRange(double x, double y, double b, double e)
+ : PoseRange(Pose(x, y, b), Pose(x, y, e))
+{
+}
+
+Pose
+PoseRange::bp() const
+{
+ return this->_bp;
+}
+
+Pose
+PoseRange::ep() const
+{
+ return this->_ep;
+}
+
+double
+PoseRange::b() const
+{
+ return std::min(this->_bp.h(), this->_ep.h());
+}
+
+double
+PoseRange::e() const
+{
+ return std::max(this->_bp.h(), this->_ep.h());
+}
+
+void
+PoseRange::translate(Point const& p)
+{
+ this->_bp.translate(p);
+ this->_ep.translate(p);
+ this->set_xyh();
+}
+
+void
+PoseRange::rotate(Point const& c, double const angl)
+{
+ this->_bp.rotate(c, angl);
+ this->_ep.rotate(c, angl);
+ this->set_xyh();
+}
+
+void
+PoseRange::reflect(Line const& li)
+{
+ this->_bp.reflect(li);
+ this->_ep.reflect(li);
+ this->set_xyh();
+}
+
+std::ostream&
+operator<<(std::ostream& out, PoseRange const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "," << p.b() << "," << p.e();
+ out << "]";
+ return out;
+}
+
+double
+CarSize::ctc() const
+{
+ return this->_curb_to_curb;
+}
+
+void
+CarSize::ctc(double ctc)
+{
+ this->_curb_to_curb = ctc;
+}
+
+double
+CarSize::wb() const
+{
+ return this->_wheelbase;
+}
+
+void
+CarSize::wb(double wb)
+{
+ this->_wheelbase = wb;
+}
+
+double
+CarSize::w() const
+{
+ return this->_width;
+}
+
+void
+CarSize::w(double w)
+{
+ this->_width = w;
+}
+
+double
+CarSize::wwm() const
+{
+ return this->_width_with_mirrors;
+}
+
+void
+CarSize::wwm(double w)
+{
+ this->_width_with_mirrors = w;
+}
+
+double
+CarSize::len() const
+{
+ return this->_length;
+}
+
+void
+CarSize::len(double len)
+{
+ this->_length = len;
+}
+
+double
+CarSize::df() const
+{
+ return this->_distance_to_front;
+}
+
+void
+CarSize::df(double df)
+{
+ this->_distance_to_front = df;
+}
+
+double
+CarSize::dr() const
+{
+ return this->len() - this->df();
+}
+
+void
+CarSize::ft(double ft)
+{
+ this->_front_track = ft;
+}
+
+double
+CarSize::ft() const
+{
+ return this->_front_track;
+}
+
+double
+CarSize::edist_to_rr() const
+{
+ return sqrt(pow(this->w() / 2.0, 2) + pow(this->len() - this->df(), 2));
+}
+
+double
+CarSize::edist_to_lf() const
+{
+ return sqrt(pow(this->w() / 2.0, 2) + pow(this->df(), 2));
+}
+
+double
+CarSize::mtr() const
+{
+ auto ctc2 = pow(this->ctc() / 2.0, 2.0);
+ auto wb2 = pow(this->wb(), 2.0);
+ return sqrt(ctc2 - wb2) - this->ft() / 2.0;
+}
+
+double
+CarSize::iradi() const
+{
+ return this->mtr() - this->w() / 2;
+}
+
+double
+CarSize::ofradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+ auto df2 = pow(this->df(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::orradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+ auto dr2 = pow(this->dr(), 2.0);
+ return sqrt(mtrw2 + dr2);
+}
+
+double
+CarSize::imradi() const
+{
+ auto mtrw2 = pow(this->mtr() - this->wwm() / 2.0, 2.0);
+ auto df2 = pow(this->wb(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::omradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->wwm() / 2.0, 2.0);
+ auto df2 = pow(this->wb(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::perfect_parking_slot_len() const
+{
+ auto r = this->ctc() / 2.0;
+ auto l = this->wb();
+ auto k = this->df() - this->wb();
+ auto w = this->w(); // FIXME use wwm()?
+ auto r2l2 = r * r - l * l;
+ auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
+ return this->len() + sqrt(s) - l - k;
+}
+
+double
+CarMove::sp() const
+{
+ return this->_speed;
+}
+
+void
+CarMove::sp(double sp)
+{
+ this->_speed = sp;
+}
+
+double
+CarMove::st() const
+{
+ return this->_steer;
+}
+
+void
+CarMove::st(double st)
+{
+ this->_steer = st;
+}
+
+bool
+BicycleCar::drivable(Pose const& p) const
+{
+ return this->drivable(PoseRange(p, p));
+}
+
+bool
+BicycleCar::drivable(PoseRange const& p) const
+{
+ double a_1 = atan2(p.y() - this->y(), p.x() - this->x()) - this->h();
+ while (a_1 < -M_PI)
+ a_1 += 2 * M_PI;
+ while (a_1 > +M_PI)
+ a_1 -= 2 * M_PI;
+ double h_d = p.h() - this->h();
+ while (h_d < -M_PI)
+ h_d += 2 * M_PI;
+ while (h_d > +M_PI)
+ h_d -= 2 * M_PI;
+ double a_2 = 0;
+ if (h_d == 0 && (a_1 == 0 || a_2 == M_PI || a_2 == -M_PI)) {
+ return true;
+ } else if (0 < a_1 && a_1 <= M_PI/2) { // left front
+ BicycleCar z(*this); // zone border
+ z.h(p.e());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == p.h()
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
+ return true;
+ a_2 = atan2(p.y() - z.y(), p.x() - z.x());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
+ BicycleCar z(*this); // zone border
+ z.h(p.e());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == p.h()
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
+ return true;
+ a_2 = atan2(p.y() - z.y(), p.x() - z.x());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
+ BicycleCar z(*this); // zone border
+ z.h(p.b());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == p.h()
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
+ return true;
+ a_2 = atan2(p.y() - z.y(), p.x() - z.x());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
+ BicycleCar z(*this); // zone border
+ z.h(p.b());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == p.h()
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
+ return true;
+ a_2 = atan2(p.y() - z.y(), p.x() - z.x());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } else {
+ // Not happenning, as ``-pi <= a <= pi``.
+ }
+ return false;
+}
+
+void
+BicycleCar::set_max_steer()
+{
+ this->st(atan(this->wb() / this->mtr()));
+}
+
+double
+BicycleCar::lfx() const
+{
+ double lfx = this->x();
+ lfx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ lfx += this->df() * cos(this->h());
+ return lfx;
+}
+
+double
+BicycleCar::lfy() const
+{
+ double lfy = this->y();
+ lfy += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ lfy += this->df() * sin(this->h());
+ return lfy;
+}
+
+double
+BicycleCar::lrx() const
+{
+ double lrx = this->x();
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ lrx += -this->dr() * cos(this->h());
+ return lrx;
+}
+
+double
+BicycleCar::lry() const
+{
+ double lry = this->y();
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ lry += -this->dr() * sin(this->h());
+ return lry;
+}
+
+double
+BicycleCar::rrx() const
+{
+ double rrx = this->x();
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ rrx += -this->dr() * cos(this->h());
+ return rrx;
+}
+
+double
+BicycleCar::rry() const
+{
+ double rry = this->y();
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ rry += -this->dr() * sin(this->h());
+ return rry;
+}
+
+double
+BicycleCar::rfx() const
+{
+ double rfx = this->x();
+ rfx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ rfx += this->df() * cos(this->h());
+ return rfx;
+}
+
+double
+BicycleCar::rfy() const
+{
+ double rfy = this->y();
+ rfy += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ rfy += this->df() * sin(this->h());
+ return rfy;
+}
+
+Point
+BicycleCar::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+BicycleCar::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+BicycleCar::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+BicycleCar::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+BicycleCar::left() const
+{
+ return Line(this->lr(), this->lf());
+}
+
+Line
+BicycleCar::rear() const
+{
+ return Line(this->lr(), this->rr());
+}
+
+Line
+BicycleCar::right() const
+{
+ return Line(this->rr(), this->rf());
+}
+
+Line
+BicycleCar::front() const
+{
+ return Line(this->rf(), this->lf());
+}
+
+double
+BicycleCar::lrax() const
+{
+ double lrx = this->x();
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ return lrx;
+}
+double
+BicycleCar::lray() const
+{
+ double lry = this->y();
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ return lry;
+}
+
+double
+BicycleCar::rrax() const
+{
+ double rrx = this->x();
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ return rrx;
+}
+
+double
+BicycleCar::rray() const
+{
+ double rry = this->y();
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ return rry;
+}
+
+Point
+BicycleCar::lra() const
+{
+ return Point(this->lrax(), this->lray());
+}
+
+Point
+BicycleCar::rra() const
+{
+ return Point(this->rrax(), this->rray());
+}
+
+double
+BicycleCar::lfax() const
+{
+ return this->lrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::lfay() const
+{
+ return this->lray() + this->wb() * sin(this->h());
+}
+
+double
+BicycleCar::rfax() const
+{
+ return this->rrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::rfay() const
+{
+ return this->rray() + this->wb() * sin(this->h());
+}
+
+Point
+BicycleCar::lfa() const
+{
+ return Point(this->lfax(), this->lfay());
+}
+
+Point
+BicycleCar::rfa() const
+{
+ return Point(this->rfax(), this->rfay());
+}
+
+double
+BicycleCar::lfmx() const
+{
+ double x = this->x();
+ x += (this->wwm() / 2.0) * cos(this->h() + M_PI / 2.0);
+ x += this->wb() * cos(this->h());
+ return x;
+}
+
+double
+BicycleCar::lfmy() const
+{
+ double y = this->y();
+ y += (this->wwm() / 2.0) * sin(this->h() + M_PI / 2.0);
+ y += this->wb() * sin(this->h());
+ return y;
+}
+
+double
+BicycleCar::rfmx() const
+{
+ double x = this->x();
+ x += (this->wwm() / 2.0) * cos(this->h() - M_PI / 2.0);
+ x += this->wb() * cos(this->h());
+ return x;
+}
+
+double
+BicycleCar::rfmy() const
+{
+ double y = this->y();
+ y += (this->wwm() / 2.0) * sin(this->h() - M_PI / 2.0);
+ y += this->wb() * sin(this->h());
+ return y;
+}
+
+Point
+BicycleCar::lfm() const
+{
+ return Point(this->lfmx(), this->lfmy());
+}
+
+Point
+BicycleCar::rfm() const
+{
+ return Point(this->rfmx(), this->rfmy());
+}
+
+double
+BicycleCar::cfx() const
+{
+ return this->x() + this->df() * cos(this->h());
+}
+
+double
+BicycleCar::cfy() const
+{
+ return this->y() + this->df() * sin(this->h());
+}
+
+Point
+BicycleCar::cf() const
+{
+ return Point(this->cfx(), this->cfy());
+}
+
+Point
+BicycleCar::ccl() const
+{
+ return Point(
+ this->x() + this->mtr() * cos(this->h() + M_PI / 2.0),
+ this->y() + this->mtr() * sin(this->h() + M_PI / 2.0)
+ );
+}
+
+Point
+BicycleCar::ccr() const
+{
+ return Point(
+ this->x() + this->mtr() * cos(this->h() - M_PI / 2.0),
+ this->y() + this->mtr() * sin(this->h() - M_PI / 2.0)
+ );
+}
+
+void
+BicycleCar::next()
+{
+ this->x(this->x() + this->sp() * cos(this->h()));
+ this->y(this->y() + this->sp() * sin(this->h()));
+ this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
+}
+
+void
+BicycleCar::gen_gnuplot_to(std::ostream& out, GenPlotOpts opts)
+{
+ if (opts.ALL) {
+ opts.CAR = true;
+ opts.MIRRORS = true;
+ }
+ if (opts.MIRRORS) {
+ opts.LEFT_MIRROR = true;
+ opts.RIGHT_MIRROR = true;
+ }
+ if (opts.CAR) {
+ opts.FRAME = true;
+ opts.CROSS = true;
+ opts.ARROW = true;
+ }
+ if (opts.FRAME) {
+ opts.LEFT = true;
+ opts.RIGHT = true;
+ opts.REAR = true;
+ opts.FRONT = true;
+ }
+ if (opts.LF_POINT) {
+ this->lf().gen_gnuplot_to(out);
+ }
+ if (opts.LR_POINT) {
+ this->lr().gen_gnuplot_to(out);
+ }
+ if (opts.RR_POINT) {
+ this->rr().gen_gnuplot_to(out);
+ }
+ if (opts.RF_POINT) {
+ this->rf().gen_gnuplot_to(out);
+ }
+ if (opts.LFM_POINT) {
+ this->lfm().gen_gnuplot_to(out);
+ }
+ if (opts.RFM_POINT) {
+ this->rfm().gen_gnuplot_to(out);
+ }
+ if (opts.CRA_POINT || opts.CAR_POINT) {
+ Point::gen_gnuplot_to(out);
+ }
+ if (opts.LRA_POINT) {
+ this->lra().gen_gnuplot_to(out);
+ }
+ if (opts.RRA_POINT) {
+ this->rra().gen_gnuplot_to(out);
+ }
+ if (opts.LEFT) {
+ this->lf().gen_gnuplot_to(out);
+ this->lr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.RIGHT) {
+ this->rf().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.REAR) {
+ this->lr().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.FRONT) {
+ this->lf().gen_gnuplot_to(out);
+ this->rf().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.ARROW) {
+ this->cf().gen_gnuplot_to(out);
+ this->lfa().gen_gnuplot_to(out);
+ this->rfa().gen_gnuplot_to(out);
+ this->cf().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.CROSS) {
+ double lx = this->x() + 0.2 * cos(this->h() + M_PI/2);
+ double rx = this->x() - 0.2 * cos(this->h() + M_PI/2);
+ double fx = this->x() + 0.2 * cos(this->h());
+ double bx = this->x() - 0.2 * cos(this->h()); // rear is back
+ double ly = this->y() + 0.2 * sin(this->h() + M_PI/2);
+ double ry = this->y() - 0.2 * sin(this->h() + M_PI/2);
+ double fy = this->y() + 0.2 * sin(this->h());
+ double by = this->y() - 0.2 * sin(this->h()); // rear is back
+ out << lx << " " << ly << std::endl;
+ out << rx << " " << ry << std::endl;
+ out << std::endl;
+ out << fx << " " << fy << std::endl;
+ out << bx << " " << by << std::endl;
+ out << std::endl;
+ }
+ if (opts.LEFT_MIRROR) {
+ this->lf().gen_gnuplot_to(out);
+ this->lfm().gen_gnuplot_to(out);
+ this->lr().gen_gnuplot_to(out);
+ out << std::endl;
+
+ }
+ if (opts.RIGHT_MIRROR) {
+ this->rf().gen_gnuplot_to(out);
+ this->rfm().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+}
+
+} // namespace bcar
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file
+ * \brief Compare with time-optimal planning [1].
+ *
+ * Li, B., Wang, K., and Shao, Z. (2016). Time-Optimal Maneuver Planning in
+ * Automatic Parallel Park- ing Using a Simultaneous Dynamic Optimization
+ * Approach. IEEE Transactions on Intelligent Trans- portation Systems,
+ * 17(11):3263–3274.
+ */
+
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 11.031078891255458
+#define CAR_WIDTH 1.771
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
+
+#define SLOT_WIDTH 2.0
+#define SLOT_LENGTH 4.5
+
+#define PARKING_SPEED -0.001
+#define MAX_CUSP 25
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main()
+{
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+
+ int cusp[2] = {-1, -1};
+ bcar::ParkingSlot s(zp, zh, SLOT_WIDTH, SLOT_LENGTH);
+ // In-slot planner
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(MAX_CUSP);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ auto pr = s.fe(c);
+ if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+ && pr.e() == 0.0)) {
+ cusp[1] = s.get_max_cusp();
+ }
+ using namespace std;
+ cout << SLOT_WIDTH << " " << SLOT_LENGTH << " ";
+ cout << cusp[1] << " " << pr << endl;
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file
+ * \brief Compare ``Several reversed trials'' [1] with In-slot planner.
+ *
+ * [1]: Vorobieva, H., Glaser, S., Minoiu-Enache, N., and Mammar, S. (2015).
+ * Automatic Parallel Parking in Tiny Spots: Path Planning and Control. IEEE,
+ * 16(1):396–410.
+ */
+
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 11.031078891255458
+#define CAR_WIDTH 1.771
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
+
+#define SLOT_WIDTH 2.0
+#define SLOT_MAX_LENGTH 5.8
+#define SLOT_STEP_LENGTH 0.01
+
+#define PARKING_SPEED -0.001
+#define MAX_CUSP 10
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main()
+{
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+ double len = c.len() + SLOT_STEP_LENGTH;
+
+ while (len < SLOT_MAX_LENGTH) {
+ int cusp[2] = {-1, -1};
+ bcar::ParkingSlot s(zp, zh, SLOT_WIDTH, len);
+ // Several reversed trials
+ c.sp(PARKING_SPEED * -1.0);
+ c.set_max_steer();
+ s.set_max_cusp(MAX_CUSP);
+ double nx = s.lrx();
+ nx += (c.w() / 2.0 + 0.001) * cos(s.h() - M_PI / 2.0);
+ nx += (c.dr() + 0.001) * cos(s.h());
+ c.x(nx);
+ double ny = s.lry();
+ ny += (c.w() / 2.0 + 0.001) * sin(s.h() - M_PI / 2.0);
+ ny += (c.dr() + 0.001) * sin(s.h());
+ c.y(ny);
+ c.h(s.h());
+ auto ip = s.drive_of_slot(c);
+ if (ip.size() > 0) {
+ cusp[0] = s.get_max_cusp();
+ }
+ // In-slot planner
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(MAX_CUSP);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ auto pr = s.fe(c);
+ if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+ && pr.e() == 0.0)) {
+ cusp[1] = s.get_max_cusp();
+ }
+ using namespace std;
+ cout << SLOT_WIDTH << " " << len << " ";
+ cout << cusp[0] << " " << cusp[1] << " ";
+ cout << pr << endl;
+ len += SLOT_STEP_LENGTH;
+ }
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file
+ * \brief Compare with two-phased static optimization [1].
+ *
+ * [1]: Zips, P., Bock, M., and Kugi, A. (2013). A fast mo- tion planning
+ * algorithm for car parking based on static optimization. In 2013 IEEE/RSJ
+ * Interna- tional Conference on Intelligent Robots and Sys- tems, pages
+ * 2392–2397. ISSN: 2153-0866.
+ */
+
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 9.0
+#define CAR_WIDTH 1.8
+#define CAR_WHEELBASE 2.7
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.7
+#define CAR_LENGTH 4.7
+
+#define SLOT_WIDTH 2.2
+#define SLOT_LENGTH 5.1
+
+#define PARKING_SPEED -0.001
+#define MAX_CUSP 15
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main()
+{
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+
+ int cusp[2] = {-1, -1};
+ bcar::ParkingSlot s(zp, zh, SLOT_WIDTH, SLOT_LENGTH);
+ // In-slot planner
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(MAX_CUSP);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ auto pr = s.fe(c);
+ if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+ && pr.e() == 0.0)) {
+ cusp[1] = s.get_max_cusp();
+ }
+ using namespace std;
+ cout << SLOT_WIDTH << " " << SLOT_LENGTH << " ";
+ cout << cusp[1] << " " << pr << endl;
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR "fiat_punto"
+#define CAR_CURB_TO_CURB 10.820
+#define CAR_WIDTH 1.625
+#define CAR_WHEELBASE 2.450
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.105
+#define CAR_LENGTH 3.760
+
+#define SLOT_MAX_LENGTH 6.5
+#define SLOT_MAX_WIDTH 2.2
+#define SLOT_STEP_LENGTH 0.01
+#define SLOT_STEP_WIDTH 0.01
+
+#define PARKING_SPEED -0.001
+#define MAX_CUSP 10
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+struct entry {
+ double len = 0.0;
+ double w = 0.0;
+ bcar::PoseRange pr;
+};
+
+int main()
+{
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+ double len = SLOT_MAX_LENGTH;
+ double w = SLOT_MAX_WIDTH;
+
+ std::vector<struct entry> entries;
+ while (len > c.len()) {
+ if (len > c.perfect_parking_slot_len() + SLOT_STEP_LENGTH) {
+ len -= SLOT_STEP_LENGTH;
+ continue;
+ }
+ w = SLOT_MAX_WIDTH;
+ while (w > c.w()) {
+ bcar::ParkingSlot s(zp, zh, w, len);
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(MAX_CUSP);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ auto pr = s.fe(c);
+ if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+ && pr.e() == 0.0)) {
+ struct entry e{len, w, pr};
+ entries.push_back(e);
+ }
+ w -= SLOT_STEP_WIDTH;
+ }
+ std::cerr << "Slot length " << len << " done." << std::endl;
+ len -= SLOT_STEP_LENGTH;
+ }
+
+ using namespace std;
+ cout << "/* Generated by `./compute_pslot_table` */" << endl;
+ cout << "#ifndef PSLOT_" << CAR << "_TABLE" << endl;
+ cout << "#define PSLOT_" << CAR << "_TABLE" << endl;
+ cout << "#include \"bcar.hh\"" << endl;
+ cout << "bcar::PoseRange " << "get_" << CAR << "_entry(double len,";
+ cout << "double w)" << endl;
+ cout << "{" << endl;
+ for (auto e: entries) {
+ cout << "\tif (len >= " << e.len;
+ cout << " && w >= " << e.w << ") {" << endl;
+ cout << "\t\treturn bcar::PoseRange(";
+ cout << e.pr.x() << "," << e.pr.y() << ",";
+ cout << e.pr.b() << "," << e.pr.e() << ");" << endl;
+ cout << "\t}" << endl;
+ }
+ cout << "\treturn bcar::PoseRange(0.0,0.0,0.0,0.0);" << endl;
+ cout << "}" << endl;
+ cout << "#endif /* PSLOT_" << CAR << "_TABLE */" << endl;
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 10.802166641822163
+#define CAR_FRONT_TRACK 1.511
+#define CAR_WIDTH 1.771
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
+
+#define SLOT_MAX_WIDTH (CAR_WIDTH + 0.5)
+#define SLOT_STEP_WIDTH 0.01
+
+#define PARKING_SPEED -0.001
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main(int argc, char** argv)
+{
+ if (argc != 3) {
+ std::cerr << "Number of direction changes needed." << std::endl;
+ exit(1);
+ }
+ int max_cusp = atoi(argv[1]);
+ double slot_length = atof(argv[2]);
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.ft(CAR_FRONT_TRACK);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+
+ for (double w = c.w() + 4.5 * SLOT_STEP_WIDTH; w < SLOT_MAX_WIDTH;
+ w += SLOT_STEP_WIDTH) {
+ bcar::ParkingSlot s(zp, zh, w, slot_length);
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(max_cusp);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ double d = 0;
+ double fd = 0;
+ unsigned int cd = 0;
+ if (s._ispaths.size() > 0) {
+ for (unsigned int i = 1; i < s._ispaths.size(); i++) {
+ double dd = std::abs(s._ispaths[i].front().h()
+ - s._ispaths[i - 1].front().h());
+ if (dd <= 0.0001) {
+ d += dd;
+ } else {
+ fd += dd;
+ cd += 1;
+ }
+ }
+ std::cout << w << " " << slot_length << " ";
+ std::cout << max_cusp << " ";
+ std::cout << d << " " << fd << " " << cd;
+ std::cout << std::endl;
+ }
+ }
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <fstream>
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define SP 0.5
+#define STEPS 60
+
+#define V v
+#define INIT_V vector<M> V;
+#define P(W) V.push_back(M(#W)); V.back().o.W = true;
+#define LC V.back().c
+
+class M {
+public:
+ static unsigned int cntr;
+ std::string fn;
+ std::string fc;
+ std::ofstream f;
+ bcar::BicycleCar c;
+ bcar::BicycleCar::GenPlotOpts o;
+
+ void gpl()
+ {
+ this->c.gen_gnuplot_to(this->f, this->o);
+ this->c.next();
+ }
+
+ ~M()
+ {
+ this->f.close();
+ }
+ M(std::string fn) : fn(fn)
+ {
+ this->fc = std::to_string(this->cntr++);
+ this->f.open(this->fn + this->fc);
+ this->o.ALL = false;
+ }
+ M(M const& m) : fn(m.fn), c(m.c), o(m.o)
+ {
+ this->fc = std::to_string(this->cntr++);
+ this->f.open(this->fn + this->fc);
+ }
+ M& operator=(M m)
+ {
+ swap(*this, m);
+ return *this;
+ }
+ friend void swap(M& f, M& t)
+ {
+ using std::swap;
+ f.f.close();
+ t.f.close();
+ swap(f.fn, t.fn);
+ swap(f.fc, t.fc);
+ swap(f.c, t.c);
+ swap(f.o, t.o);
+ f.f.open(f.fn + f.fc);
+ t.f.open(t.fn + t.fc);
+ }
+ M(M&& m) noexcept
+ {
+ swap(*this, m);
+ }
+};
+unsigned int M::cntr = 0;
+
+void
+gpl_slot(bcar::ParkingSlot& s, std::string fn = "")
+{
+ if (fn.compare("") == 0) {
+ return;
+ }
+ using namespace std;
+ ofstream f;
+ f.open(fn);
+ s.gen_gnuplot_to(f);
+ f.close();
+}
+
+void
+gen_pl_script(std::vector<M>& ms, std::string with_slot)
+{
+ using namespace std;
+ ofstream f;
+ f.open("plot.pl");
+ f << "#!/usr/bin/gnuplot" << endl;
+ f << "unset key" << endl;
+ f << "set size ratio -1" << endl;
+ if (with_slot.compare("") != 0) {
+ f << "plot '" << with_slot << "' w l,";
+ } else {
+ f << "plot";
+ }
+ for (auto& m: ms) {
+ f << " '" << (m.fn + m.fc) << "'" << " w l,";
+ }
+ f << endl;
+ f << "pause -1" << endl;
+ f.close();
+}
+
+int
+main()
+{
+ using namespace std;
+ cout << fixed;
+ cerr << fixed;
+
+ bcar::ParkingSlot s(bcar::Point(0, 0), 0, 2.5, 6);
+ string sn("slot");
+ gpl_slot(s, sn);
+
+ s.fe(bcar::BicycleCar());
+ s.compute_entries();
+
+ INIT_V
+ for (auto e: s._entries) {
+ P(RRA_POINT)
+ LC = e;
+ LC.st(LC.st() * -1.0);
+ P(LRA_POINT)
+ LC = e;
+ }
+ for (unsigned int i = 0; i < STEPS; i++) {
+ for (auto& m: V) {
+ m.gpl();
+ }
+ }
+ gen_pl_script(V, sn);
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+// Car dimensions taken from www.car.info
+
+//// Opel Corsa
+//#define SLOT_START_WIDTH_MULTIPLIER 2.0
+//#define CAR_CURB_TO_CURB 9.900
+//#define CAR_FRONT_TRACK 1.320
+//#define CAR_WIDTH 1.532 // 1.944 // with mirrors
+//#define CAR_WHEELBASE 2.343
+//#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.212
+//#define CAR_LENGTH 3.622
+
+//// Wolkswagen transporter
+//#define SLOT_START_WIDTH_MULTIPLIER 12.4
+//#define CAR_CURB_TO_CURB 13.200
+//#define CAR_FRONT_TRACK 1.904
+//#define CAR_WIDTH 1.994 // 2.297 // with mirrors
+//#define CAR_WHEELBASE 3.400
+//#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 4.308
+//#define CAR_LENGTH 5.500
+
+//// Mercedes-Benz AMG GT
+//#define SLOT_START_WIDTH_MULTIPLIER 9.8
+//#define CAR_CURB_TO_CURB 11.470
+//#define CAR_FRONT_TRACK 1.678
+//#define CAR_WIDTH 1.939 // 2.075 // with mirrors
+//#define CAR_WHEELBASE 2.630
+//#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.528
+//#define CAR_LENGTH 4.544
+
+// Renault ZOE (vorobieva, computed ctc)
+#define SLOT_START_WIDTH_MULTIPLIER 4.5
+#define CAR_CURB_TO_CURB 10.802166641822163
+#define CAR_FRONT_TRACK 1.511
+#define CAR_WIDTH 1.771 // 1.945 // with mirrors
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
+
+#define SLOT_STEP_LENGTH 0.01
+#define SLOT_STEP_WIDTH 0.01
+#define SLOT_MAX_WIDTH (CAR_WIDTH + (SLOT_START_WIDTH_MULTIPLIER + 40) * SLOT_STEP_WIDTH)
+
+#define PARKING_SPEED -0.001
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main(int argc, char** argv)
+{
+ if (argc != 2) {
+ std::cerr << "Number of direction changes needed." << std::endl;
+ exit(1);
+ }
+ int max_cusp = atoi(argv[1]);
+ std::cout << std::fixed;
+ std::cerr << std::fixed;
+
+ bcar::BicycleCar c;
+ c.ctc(CAR_CURB_TO_CURB);
+ c.ft(CAR_FRONT_TRACK);
+ c.w(CAR_WIDTH);
+ c.wb(CAR_WHEELBASE);
+ c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+ c.len(CAR_LENGTH);
+
+ bcar::Point zp(0.0, 0.0);
+ double zh = 0.0;
+ double w = c.w() + SLOT_START_WIDTH_MULTIPLIER * SLOT_STEP_WIDTH;
+
+ while (w < SLOT_MAX_WIDTH) {
+ double len = c.len() + SLOT_STEP_LENGTH;
+ while (true) {
+ bcar::ParkingSlot s(zp, zh, w, len);
+ s.set_parking_speed(PARKING_SPEED);
+ s.set_max_cusp(max_cusp);
+ s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+ auto pr = s.fe(c);
+ if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+ && pr.e() == 0.0)) {
+ std::cout << w << " " << len << " ";
+ std::cout << max_cusp << " ";
+ std::cout << s._ispaths.size() << " ";
+ auto f = s._ispaths.front().front();
+ auto b = s._ispaths.back().front();
+ std::cout << f.x() << " " << f.y() << " ";
+ std::cout << f.h() << " ";
+ std::cout << b.x() << " " << b.y() << " ";
+ std::cout << b.h() << " ";
+ std::cout << std::endl;
+ break;
+ }
+ len += SLOT_STEP_LENGTH;
+ }
+ w += SLOT_STEP_WIDTH;
+ }
+ return 0;
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <cassert>
+#include <cmath>
+#include "pslot.hh"
+
+namespace bcar {
+
+ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
+ _border{p,
+ Point(p.x() + W * cos(h - M_PI / 2.0),
+ p.y() + W * sin(h - M_PI / 2.0)),
+ Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
+ p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
+ Point(p.x() + L * cos(h), p.y() + L * sin(h))},
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
+{
+}
+
+ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
+ double rfx, double rfy, double lfx, double lfy) :
+ _border{Point(lrx, lry), Point(rrx, rry),
+ Point(rfx, rfy), Point(lfx, lfy)},
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
+{
+}
+
+double
+ParkingSlot::len() const
+{
+ return this->_entry.len();
+}
+
+double
+ParkingSlot::w() const
+{
+ return this->_rear.len();
+}
+
+double
+ParkingSlot::lfx() const
+{
+ return this->_border[3].x();
+}
+
+double
+ParkingSlot::lfy() const
+{
+ return this->_border[3].y();
+}
+
+double
+ParkingSlot::lrx() const
+{
+ return this->_border[0].x();
+}
+
+double
+ParkingSlot::lry() const
+{
+ return this->_border[0].y();
+}
+
+double
+ParkingSlot::rrx() const
+{
+ return this->_border[1].x();
+}
+
+double
+ParkingSlot::rry() const
+{
+ return this->_border[1].y();
+}
+
+double
+ParkingSlot::rfx() const
+{
+ return this->_border[2].x();
+}
+
+double
+ParkingSlot::rfy() const
+{
+ return this->_border[2].y();
+}
+
+double
+ParkingSlot::h() const
+{
+ return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
+}
+
+Point
+ParkingSlot::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+ParkingSlot::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+ParkingSlot::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+ParkingSlot::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+ParkingSlot::entry() const
+{
+ return this->_entry;
+}
+
+Line
+ParkingSlot::rear() const
+{
+ return this->_rear;
+}
+
+Line
+ParkingSlot::curb() const
+{
+ return this->_curb;
+}
+
+Line
+ParkingSlot::front() const
+{
+ return this->_front;
+}
+
+void
+ParkingSlot::set_parking_speed(double s)
+{
+ this->_parking_speed = s;
+}
+
+unsigned int
+ParkingSlot::get_max_cusp() const
+{
+ return this->_max_cusp;
+}
+
+void
+ParkingSlot::set_max_cusp(unsigned int m)
+{
+ this->_max_cusp = m;
+}
+
+void
+ParkingSlot::set_delta_angle_to_slot(double d)
+{
+ this->_delta_angle_to_slot = d;
+}
+
+bool
+ParkingSlot::parallel() const
+{
+ return this->_entry.len() > this->_rear.len();
+}
+
+bool
+ParkingSlot::right() const
+{
+ return this->_border[1].on_right_side_of(this->_entry);
+}
+
+void
+ParkingSlot::swap_side()
+{
+ this->_border[1].rotate(this->_border[0], M_PI);
+ this->_border[2].rotate(this->_border[3], M_PI);
+ this->_entry = Line(this->_border[0], this->_border[3]);
+ this->_rear = Line(this->_border[0], this->_border[1]);
+ this->_curb = Line(this->_border[1], this->_border[2]);
+ this->_front = Line(this->_border[2], this->_border[3]);
+}
+
+bool
+ParkingSlot::parked(BicycleCar const& c) const
+{
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
+ return c.lf().inside_of(b) && c.lr().inside_of(b)
+ && c.rr().inside_of(b) && c.rf().inside_of(b);
+}
+
+bool
+ParkingSlot::collide(BicycleCar const& c) const
+{
+ return c.left().intersects_with(this->_rear)
+ || c.left().intersects_with(this->_curb)
+ || c.left().intersects_with(this->_front)
+ || c.rear().intersects_with(this->_rear)
+ || c.rear().intersects_with(this->_curb)
+ || c.rear().intersects_with(this->_front)
+ || c.right().intersects_with(this->_rear)
+ || c.right().intersects_with(this->_curb)
+ || c.right().intersects_with(this->_front)
+ || c.front().intersects_with(this->_rear)
+ || c.front().intersects_with(this->_curb)
+ || c.front().intersects_with(this->_front);
+}
+
+void
+ParkingSlot::set_to_start(BicycleCar& c)
+{
+ c.h(this->h());
+ double clen = -this->_offset + this->len() - c.df();
+ double cw = c.w() / 2.0;
+ c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
+ c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
+ c.set_max_steer();
+ assert(this->_parking_speed < 0.0);
+ c.sp(this->_parking_speed);
+}
+
+std::vector<BicycleCar>
+ParkingSlot::drive_in_slot(BicycleCar c)
+{
+ assert(this->parallel());
+ assert(this->right());
+ assert(c.len() < this->len());
+ assert(c.w() < this->w());
+ std::vector<BicycleCar> path;
+ path.reserve(this->_max_cusp + 2);
+ path.push_back(c);
+ unsigned int cusp = 0;
+ while (cusp < this->_max_cusp + 1) {
+ if (this->parked(c)) {
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
+ }
+ path.push_back(c);
+ return path;
+ }
+ double sx = c.x() + 10.0 * cos(this->h());
+ double sy = c.y() + 10.0 * sin(this->h());
+ double cx = c.x() + 10.0 * cos(c.h());
+ double cy = c.y() + 10.0 * sin(c.h());
+ if (Point(cx, cy).on_right_side_of(
+ Line(Point(c.x(), c.y()), Point(sx, sy)))) {
+ return std::vector<BicycleCar>();
+ }
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ path.push_back(c);
+ c.st(c.st() * -1.0);
+ cusp += 1;
+ }
+ }
+ return std::vector<BicycleCar>();
+}
+
+std::vector<BicycleCar>
+ParkingSlot::drive_of_slot(BicycleCar c)
+{
+ assert(this->parallel());
+ assert(this->right());
+ assert(c.len() < this->len());
+ assert(c.w() < this->w());
+ assert(this->parked(c));
+ std::vector<BicycleCar> path;
+ path.reserve(this->_max_cusp + 2);
+ path.push_back(c);
+ unsigned int cusp = 0;
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
+ while (cusp < this->_max_cusp + 1) {
+ if (!c.lf().inside_of(b) && !c.rf().inside_of(b)) {
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
+ }
+ path.push_back(c);
+ return path;
+ }
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ path.push_back(c);
+ c.st(c.st() * -1.0);
+ cusp += 1;
+ }
+ }
+ return std::vector<BicycleCar>();
+}
+
+std::vector<Pose>
+ParkingSlot::steer_in_slot(BicycleCar c)
+{
+ std::vector<Pose> path;
+ while (!this->parked(c)) {
+ path.push_back(c);
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ c.st(c.st() * -1.0);
+ }
+ }
+ return path;
+}
+
+PoseRange
+ParkingSlot::fe(BicycleCar c)
+{
+ if (!this->parallel()) {
+ double gd = 0.0;
+ double dd = 0.0;
+ double radi = 0.0;
+ if (this->_parking_speed < 0) {
+ gd = c.df();
+ c.h(this->_rear.h() + M_PI);
+ c.sp(1.0);
+ radi = c.iradi();
+ } else {
+ gd = c.dr();
+ c.h(this->_rear.h());
+ c.sp(-1.0);
+ radi = c.ofradi();
+ }
+ c.x(this->_entry.m().x() + gd * cos(this->_rear.h()));
+ c.y(this->_entry.m().y() + gd * sin(this->_rear.h()));
+ Point cc(0.0, 0.0);
+ if (this->right()) {
+ cc = c.ccl();
+ } else {
+ cc = c.ccr();
+ }
+ this->_rear.intersects_with(cc, radi);
+ dd = std::min(this->_border[0].edist(this->_rear.i1()),
+ this->_border[0].edist(this->_rear.i2()));
+ c.st(0.0);
+ c.sp(c.sp() * dd);
+ c.next();
+ c.sp(this->_parking_speed);
+ return PoseRange(c.x(), c.y(), c.h(), c.h());
+ }
+ bool swapped = false;
+ if (!this->right()) {
+ this->swap_side();
+ swapped = true;
+ }
+ this->set_to_start(c);
+ auto const rc = c.rf();
+ this->_curb.intersects_with(rc, c.len());
+ double max_to_slot;
+ auto const& rr = c.rr();
+ auto const& i1 = this->_curb.i1();
+ auto const& i2 = this->_curb.i2();
+ if (rr.edist(i1) < rr.edist(i2)) {
+ max_to_slot = rr.min_angle_between(rc, i1);
+ } else {
+ max_to_slot = rr.min_angle_between(rc, i2);
+ }
+ std::vector<BicycleCar> starts;
+ double a_to_slot = 0.0;
+ while (a_to_slot < max_to_slot) {
+ a_to_slot += this->_delta_angle_to_slot;
+ c.rotate(rc, this->_delta_angle_to_slot);
+ starts.push_back(c);
+ }
+ for (auto s: starts) {
+ auto r = this->drive_in_slot(s);
+ if (r.size() > 0) {
+ this->_ispaths.push_back(r);
+ }
+ }
+ if (this->_ispaths.size() == 0) {
+ return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
+ }
+ if (this->_ispaths.size() == 1) {
+ auto f = this->_ispaths.front().front();
+ return PoseRange(f, f);
+ }
+ auto& c1 = this->_ispaths.front().front();
+ auto& c2 = this->_ispaths.back().front();
+ PoseRange p(c1, c2);
+ if (swapped) {
+ this->swap_side();
+ p.reflect(this->_entry);
+ }
+ return p;
+}
+
+void
+ParkingSlot::compute_entries()
+{
+ assert(this->_ispaths.size() > 0);
+ assert(this->right());
+ this->_entries.clear();
+ for (auto p: this->_ispaths) {
+ this->_entries.push_back(p.front());
+ }
+ for (auto& e: this->_entries) {
+ e.sp(e.sp() * -1.0);
+ while (!this->lf().inside_of(e.ccr(), e.iradi())) {
+ e.next();
+ }
+ }
+}
+
+PoseRange
+ParkingSlot::recompute_entry(PoseRange p)
+{
+ p.rotate(Point(0.0, 0.0), this->h());
+ p.translate(this->_border[0]);
+ if (!this->right()) {
+ p.reflect(this->_entry);
+ }
+ return p;
+}
+
+void
+ParkingSlot::gen_gnuplot_to(std::ostream& out)
+{
+ this->rear().gen_gnuplot_to(out);
+ this->curb().gen_gnuplot_to(out);
+ this->front().gen_gnuplot_to(out);
+}
+
+std::ostream&
+operator<<(std::ostream& o, ParkingSlot const& s)
+{
+ o << "[";
+ o << s._border[0] << ",";
+ o << s._border[1] << ",";
+ o << s._border[2] << ",";
+ o << s._border[3];
+ o << "]";
+ return o;
+}
+
+} // namespace bcar
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <cmath>
+#include "wvtest.h"
+
+#include "bcar.hh"
+
+using namespace bcar;
+
+WVTEST_MAIN("bcar basic geometry")
+{
+ BicycleCar bc;
+ bc.x(1.0);
+ bc.y(1.0);
+ bc.h(M_PI / 2.0);
+ bc.ctc(10.0);
+ bc.wb(2.0);
+ bc.w(1.0);
+ bc.len(3.0);
+ bc.df(2.0 + 0.5);
+
+ // car frame
+ WVPASSEQ_DOUBLE(bc.len(), bc.df() + bc.dr(), 0.00001);
+ WVPASSEQ_DOUBLE(0.5, bc.lfx(), 0.00001);
+ WVPASSEQ_DOUBLE(0.5, bc.lrx(), 0.00001);
+ WVPASSEQ_DOUBLE(1.5, bc.rrx(), 0.00001);
+ WVPASSEQ_DOUBLE(1.5, bc.rfx(), 0.00001);
+ WVPASSEQ_DOUBLE(3.5, bc.lfy(), 0.00001);
+ WVPASSEQ_DOUBLE(0.5, bc.lry(), 0.00001);
+ WVPASSEQ_DOUBLE(0.5, bc.rry(), 0.00001);
+ WVPASSEQ_DOUBLE(3.5, bc.rfy(), 0.00001);
+ WVPASSEQ_DOUBLE(0.5, bc.lrax(), 0.00001);
+ WVPASSEQ_DOUBLE(1.5, bc.rrax(), 0.00001);
+ WVPASSEQ_DOUBLE(1.0, bc.lray(), 0.00001);
+ WVPASSEQ_DOUBLE(1.0, bc.rray(), 0.00001);
+
+ // min. turning radius circle centers
+ WVPASSEQ_DOUBLE(bc.h(), M_PI / 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(-2.827076, bc.ccl().x(), 0.00001);
+ WVPASSEQ_DOUBLE(1.0000000000000004, bc.ccl().y(), 0.00001);
+ WVPASSEQ_DOUBLE(4.827076, bc.ccr().x(), 0.00001);
+ WVPASSEQ_DOUBLE(1.0, bc.ccr().y(), 0.00001);
+
+ // car radiuses (inner radius, outer front radius, outer rear radius)
+ bc.h(1.2345);
+ WVPASSEQ_DOUBLE(3.327076, bc.iradi(), 0.00001);
+ WVPASSEQ_DOUBLE(4.997358, bc.ofradi(), 0.00001);
+ WVPASSEQ_DOUBLE(4.355868, bc.orradi(), 0.00001);
+ WVPASSEQ_DOUBLE(3.485485, bc.imradi(), 0.00001);
+ WVPASSEQ_DOUBLE(5.199608, bc.omradi(), 0.00001);
+ bc.h(M_PI / 2.0);
+
+ // moving
+ bc.sp(1.0);
+ bc.st(0.0);
+ bc.next();
+ WVPASSEQ_DOUBLE(1.0, bc.x(), 0.00001);
+ WVPASSEQ_DOUBLE(2.0, bc.y(), 0.00001);
+
+ bc.set_max_steer();
+ WVPASSEQ_DOUBLE(0.481558, bc.st(), 0.00001);
+
+ // rotate
+ bc.x(-1.0);
+ bc.y(1.0);
+ bc.h(0.0);
+ bc.rotate(Point(-1.0, 1.0), M_PI);
+ WVPASSEQ_DOUBLE(-1.0, bc.x(), 0.00001);
+ WVPASSEQ_DOUBLE(1.0, bc.y(), 0.00001);
+ WVPASSEQ_DOUBLE(M_PI, bc.h(), 0.00001);
+ bc.rotate(Point(0.0, 1.0), -M_PI / 2.0);
+ WVPASSEQ_DOUBLE(0.0, bc.x(), 0.00001);
+ WVPASSEQ_DOUBLE(2.0, bc.y(), 0.00001);
+ WVPASSEQ_DOUBLE(M_PI / 2.0, bc.h(), 0.00001);
+
+ // distance to rr, lf
+ WVPASSEQ_DOUBLE(0.70710677, bc.edist_to_rr(), 10e-5);
+ WVPASSEQ_DOUBLE(bc.edist(bc.rr()), bc.edist_to_rr(), 10e-5);
+ WVPASSEQ_DOUBLE(2.5495098, bc.edist_to_lf(), 10e-5);
+ WVPASSEQ_DOUBLE(bc.edist(bc.lf()), bc.edist_to_lf(), 10e-5);
+}
+
+WVTEST_MAIN("test collide functions")
+{
+ std::vector<Point> p1;
+ p1.push_back(Point(1.0, 1.0));
+ p1.push_back(Point(1.0, 3.0));
+ p1.push_back(Point(3.0, 3.0));
+ p1.push_back(Point(3.0, 1.0));
+ WVPASS(Point(2.0, 2.0).inside_of(p1));
+ WVPASS(!Point(4.0, 4.0).inside_of(p1));
+ {
+ auto li1 = Line(Point(1.0, 1.0), Point(3.0, 3.0));
+ auto li2 = Line(Point(1.0, 3.0), Point(3.0, 1.0));
+ WVPASS(li1.intersects_with(li2));
+ WVPASSEQ_DOUBLE(li1.i1().x(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(li1.i1().y(), 2.0, 0.00001);
+ }
+ {
+ auto li1 = Line(Point(1.0, 1.0), Point(1.0, 3.0));
+ auto li2 = Line(Point(3.0, 1.0), Point(3.0, 3.0));
+ WVPASS(!li1.intersects_with(li2));
+ }
+ std::vector<Point> p2;
+ p2.push_back(Point(2.5, 1.0));
+ p2.push_back(Point(3.5, 3.0));
+ p2.push_back(Point(2.0, 4.0));
+ p2.push_back(Point(1.0, 2.0));
+ bool col1 = false;
+ // TODO polygon-polygon collision detection was removed
+ col1 = true;
+ WVPASS(col1);
+ std::vector<Point> p3;
+ p3.push_back(Point(2.0, 2.0));
+ p3.push_back(Point(2.0, 0.0));
+ p3.push_back(Point(4.0, 0.0));
+ p3.push_back(Point(4.0, 2.0));
+ bool col2 = false;
+ // TODO polygon-polygon collision detection was removed
+ col2 = false;
+ WVPASS(!col2);
+ auto c = Point(1.0, 1.0);
+ auto zz = Point(0.0, 0.0);
+ auto pp = Point(5.0, 5.0);
+ auto mp = Point(-5.0, 5.0);
+ auto mm = Point(-5.0, -5.0);
+ auto pm = Point(5.0, -5.0);
+ double r3 = 3.0;
+ double r1 = 1.0;
+ WVPASS(Line(zz, pp).intersects_with(c, r3));
+ WVPASS(Line(zz, mp).intersects_with(c, r3));
+ WVPASS(Line(zz, mm).intersects_with(c, r3));
+ WVPASS(Line(zz, pm).intersects_with(c, r3));
+ WVPASS(!Line(mp, pp).intersects_with(c, r1));
+ WVPASS(!Line(mm, pm).intersects_with(c, r1));
+ WVPASS(!Line(mm, mp).intersects_with(c, r1));
+ WVPASS(!Line(pm, pp).intersects_with(c, r1));
+}
+
+WVTEST_MAIN("auxiliary angle between three points")
+{
+ auto zz = Point(0.0, 0.0);
+ auto oo = Point(1.0, 1.0);
+ auto tt = Point(2.0, 2.0);
+ auto oz = Point(1.0, 0.0);
+ auto zo = Point(0.0, 1.0);
+ auto mtt = Point(-2.0, 2.0);
+ auto moo = Point(-1.0, 1.0);
+ auto mot = Point(-1.0, 2.0);
+ WVPASSEQ_DOUBLE(oz.min_angle_between(zz, zo), M_PI / 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(zo.min_angle_between(zz, oz), M_PI / 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(oz.min_angle_between(zo, zz), M_PI / 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(tt.min_angle_between(oo, zz), 0.0, 0.00001);
+ WVPASSEQ_DOUBLE(mtt.min_angle_between(moo, mot), M_PI / 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(mot.min_angle_between(moo, mtt), M_PI / 4.0, 0.00001);
+ auto momo = Point(-1.0, -1.0);
+ auto to = Point(2.0, 1.0);
+ auto ot = Point(1.0, 2.0);
+ auto omo = Point(1.0, -1.0);
+ auto tmo = Point(2.0, -1.0);
+ auto mto = Point(-2.0, 1.0);
+ WVPASS(to.on_right_side_of(Line(momo, oo)));
+ WVPASS(!ot.on_right_side_of(Line(momo, oo)));
+ WVPASS(!to.on_right_side_of(Line(moo, omo)));
+ WVPASS(!ot.on_right_side_of(Line(moo, omo)));
+ WVPASS(!tmo.on_right_side_of(Line(moo, omo)));
+ WVPASS(!mot.on_right_side_of(Line(moo, omo)));
+ WVPASS(mto.on_right_side_of(Line(moo, omo)));
+}
+
+WVTEST_MAIN("drivable")
+{
+ double tmp_double_1 = 0;
+ double tmp_double_2 = 0;
+ BicycleCar g;
+ // TODO set g.x, g.y to different values
+ // TODO set g.h to cover all 4 quadrants
+ BicycleCar n;
+ n.x(g.x());
+ n.y(g.y());
+ n.h(g.h());
+ WVPASS(g.drivable(n)); // pass the same pose
+
+ n = BicycleCar(g);
+ n.rotate(g.ccr(), -M_PI/2);
+ WVPASSEQ_DOUBLE(n.h(), g.h() - M_PI/2, 0.00001);
+ tmp_double_1 = sqrt(pow(n.x() - g.x(), 2) + pow(n.y() - g.y(), 2));
+ tmp_double_2 = std::abs(g.mtr() * 2 * sin(-M_PI/2 / 2));
+ WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
+ WVPASS(g.drivable(n)); // pass right corner case
+ n.rotate(g.ccr(), -0.1);
+ WVPASS(!g.drivable(n)); // fail right corner case
+
+ n = BicycleCar(g);
+ n.rotate(g.ccl(), M_PI/2);
+ WVPASSEQ_DOUBLE(n.h(), g.h() + M_PI/2, 0.00001);
+ tmp_double_1 = sqrt(pow(n.x() - g.x(), 2) + pow(n.y() - g.y(), 2));
+ tmp_double_2 = std::abs(g.mtr() * 2 * sin(M_PI/2 / 2));
+ WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
+ WVPASS(g.drivable(n)); // pass left corner case
+ n.rotate(g.ccl(), 0.1);
+ WVPASS(!g.drivable(n)); // fail left corner case
+
+ n = BicycleCar(g);
+ n.sp(std::abs(g.mtr() * 2 * sin(M_PI/2 / 2)));
+ n.st(0);
+ n.next();
+ WVPASS(g.drivable(n)); // pass forward corner case
+
+ for (double a = 0; a > -M_PI/2; a -= 0.01) {
+ n = BicycleCar(g);
+ n.rotate(g.ccr(), a);
+ WVPASS(g.drivable(n)); // pass drivable border
+ }
+ for (double a = 0; a > -M_PI/2 + 0.1; a -= 0.01) {
+ // + 0.1 -- compensate for Euclid. dist. check
+ n = BicycleCar(g);
+ n.x(n.x() + 0.1*cos(n.h()));
+ n.y(n.y() + 0.1*sin(n.h()));
+ n.rotate(n.ccr(), a);
+ WVPASS(g.drivable(n)); // pass near drivable border
+ }
+ for (double a = -0.1; a > -M_PI/2; a -= 0.01) {
+ // = -0.1 -- compensate for near goal
+ n = BicycleCar(g);
+ n.x(n.x() - 0.1*cos(n.h()));
+ n.y(n.y() - 0.1*sin(n.h()));
+ n.rotate(n.ccr(), a);
+ WVPASS(!g.drivable(n)); // fail near drivable border
+ }
+ for (double a = 0; a < M_PI / 2; a += 0.01) {
+ n = BicycleCar(g);
+ n.rotate(g.ccl(), a);
+ WVPASS(g.drivable(n)); // pass drivable border
+ }
+ for (double a = 0; a < M_PI / 2 - 0.1; a += 0.01) {
+ // - 0.1 -- compensate for Euclid. dist. check
+ n = BicycleCar(g);
+ n.x(n.x() + 0.1*cos(n.h()));
+ n.y(n.y() + 0.1*sin(n.h()));
+ n.rotate(n.ccl(), a);
+ WVPASS(g.drivable(n)); // pass near drivable border
+ }
+ for (double a = 0.1; a < M_PI / 2; a += 0.01) {
+ // = 0.1 -- compensate for near goal
+ n = BicycleCar(g);
+ n.x(n.x() - 0.1*cos(n.h()));
+ n.y(n.y() - 0.1*sin(n.h()));
+ n.rotate(n.ccl(), a);
+ WVPASS(!g.drivable(n)); // fail near drivable border
+ }
+
+ n = BicycleCar(g);
+ n.sp(std::abs(g.mtr() * 2 * sin(M_PI/2 / 2)));
+ n.sp(n.sp() * -1);
+ n.st(0);
+ n.next();
+ WVPASS(g.drivable(n)); // pass backward corner case
+
+ n = BicycleCar(g);
+ n.rotate(g.ccr(), M_PI/2);
+ WVPASSEQ_DOUBLE(n.h(), g.h() + M_PI/2, 0.00001);
+ tmp_double_1 = sqrt(pow(n.x() - g.x(), 2) + pow(n.y() - g.y(), 2));
+ tmp_double_2 = std::abs(g.mtr() * 2 * sin(-M_PI/2 / 2));
+ WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
+ WVPASS(g.drivable(n)); // pass right corner case
+
+ n = BicycleCar(g);
+ n.rotate(g.ccl(), -M_PI/2);
+ WVPASSEQ_DOUBLE(n.h(), g.h() - M_PI/2, 0.00001);
+ tmp_double_1 = sqrt(pow(n.x() - g.x(), 2) + pow(n.y() - g.y(), 2));
+ tmp_double_2 = std::abs(g.mtr() * 2 * sin(M_PI/2 / 2));
+ WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
+ WVPASS(g.drivable(n)); // pass left corner case
+
+ for (double a = 0; a < M_PI / 2; a += 0.01) {
+ n = BicycleCar(g);
+ n.rotate(g.ccr(), a);
+ WVPASS(g.drivable(n)); // pass drivable border
+ }
+ for (double a = 0; a < M_PI / 2 - 0.1; a += 0.01) {
+ // - 0.1 -- compensate for Euclid. dist. check
+ n = BicycleCar(g);
+ n.x(n.x() - 0.1*cos(n.h()));
+ n.y(n.y() - 0.1*sin(n.h()));
+ n.rotate(n.ccr(), a);
+ WVPASS(g.drivable(n)); // pass near drivable border
+ }
+ for (double a = 0.1; a < M_PI / 2; a += 0.01) {
+ // = 0.1 -- compensate for near goal
+ n = BicycleCar(g);
+ n.x(n.x() + 0.1*cos(n.h()));
+ n.y(n.y() + 0.1*sin(n.h()));
+ n.rotate(n.ccr(), a);
+ WVPASS(!g.drivable(n)); // fail near drivable border
+ }
+ for (double a = 0; a > -M_PI/2; a -= 0.01) {
+ n = BicycleCar(g);
+ n.rotate(g.ccl(), a);
+ WVPASS(g.drivable(n)); // pass drivable border
+ }
+ for (double a = 0; a > -M_PI/2 + 0.1; a -= 0.01) {
+ // + 0.1 -- compensate for Euclid. dist. check
+ n = BicycleCar(g);
+ n.x(n.x() - 0.1*cos(n.h()));
+ n.y(n.y() - 0.1*sin(n.h()));
+ n.rotate(n.ccl(), a);
+ WVPASS(g.drivable(n)); // pass near drivable border
+ }
+ for (double a = -0.1; a > -M_PI/2; a -= 0.01) {
+ // = -0.1 -- compensate for near goal
+ n = BicycleCar(g);
+ n.x(n.x() + 0.1*cos(n.h()));
+ n.y(n.y() + 0.1*sin(n.h()));
+ n.rotate(n.ccl(), a);
+ WVPASS(!g.drivable(n)); // fail near drivable border
+ }
+}
--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <cmath>
+#include "wvtest.h"
+
+#include "pslot.hh"
+
+using namespace bcar;
+
+WVTEST_MAIN("pslot basic geometry")
+{
+ ParkingSlot ps(Point(1.0, 1.0), 3.0 * M_PI / 4.0, sqrt(8.0), sqrt(2.0));
+ WVPASSEQ_DOUBLE(ps.lrx(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lry(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rrx(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rry(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfx(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfy(), 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfx(), 0.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfy(), 2.0, 0.00001);
+ WVPASS(ps.right());
+ WVPASS(!ps.parallel());
+ WVPASSEQ_DOUBLE(ps.h(), M_PI * 3.0 / 4.0, 0.00001);
+ Point p(ps.lfx(), ps.lfy());
+ ps = ParkingSlot(p, 7.0 * M_PI / 4.0, sqrt(8.0), sqrt(2.0));
+ ps.swap_side();
+ WVPASSEQ_DOUBLE(ps.lrx(), 0.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lry(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rrx(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rry(), 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfx(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfy(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfx(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfy(), 1.0, 0.00001);
+ WVPASS(!ps.right());
+ WVPASS(!ps.parallel());
+ WVPASSEQ_DOUBLE(ps.h(), -M_PI / 4.0, 0.00001);
+}
+
+WVTEST_MAIN("entries")
+{
+ ParkingSlot s(Point(0, 0), 0, 2.5, 6);
+ s.fe(BicycleCar());
+ s.compute_entries();
+ WVPASS(s._entries.size() > 0);
+ for (auto& e: s._entries) {
+ WVPASS(s.lf().inside_of(e.ccr(), e.iradi()));
+ }
+}
--- /dev/null
+*~
+*.o
+*.a
+*.lib
+*.dll
+*.exe
+*.so
+*.so.*
+*.pyc
+*.mdb
--- /dev/null
+ GNU LIBRARY GENERAL PUBLIC LICENSE
+ Version 2, June 1991
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+
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+ library `Frob' (a library for tweaking knobs) written by James Random Hacker.
+
+ <signature of Ty Coon>, 1 April 1990
+ Ty Coon, President of Vice
+
+That's all there is to it!
--- /dev/null
+
+DIRS=cpp
+
+all: build
+ @echo
+ @echo "Try: make test"
+
+build:
+ set -e; for d in $(DIRS); do \
+ if [ "$$d" = "dotnet" ] && ! runnable gmcs; then continue; fi; \
+ $(MAKE) -C $$d all; \
+ done
+
+runtests: build
+ set -e; for d in $(DIRS); do \
+ if [ "$$d" = "dotnet" ] && ! runnable gmcs; then continue; fi; \
+ $(MAKE) -C $$d runtests; \
+ done
+
+
+test: build
+ ./wvtestrun $(MAKE) runtests
+
+clean::
+ rm -f *~ .*~
+ set -e; for d in $(DIRS); do \
+ $(MAKE) -C $$d clean; \
+ done
--- /dev/null
+
+WvTest: the dumbest cross-platform test framework that could possibly work
+==========================================================================
+
+I have a problem with your unit testing framework. Yes, you.
+The person reading this. No, don't look away guiltily. You
+know your unit testing framework sucks. You know it has a
+million features you don't understand. You know you hate it,
+and it hates you. Don't you?
+
+Okay, fine. Let's be honest. Actually, I don't know who you
+are or how you feel about your unit testing framework, but I've
+tried a lot of them, and I don't like any of them. WvTest is
+the first one I don't hate, at least sort of. That might be
+because I'm crazy and I only like things I design, or it might
+be because I'm crazy and therefore I'm the only one capable of
+designing a likable unit testing framework. Who am I to say?
+
+Here are the fundamental design goals of WvTest:
+
+ - Be the stupidest thing that can possibly work. People are
+ way, way too serious about their testing frameworks. Some
+ people build testing frameworks as their *full time job*.
+ This is ridiculous. A test framework, at its core, only does
+ one thing: it runs a program that returns true or false. If
+ it's false, you lose. If it's true, you win. Everything
+ after that is gravy. And WvTest has only a minimal amount of
+ gravy.
+
+ - Be a protocol, not an API. If you don't like my API, you can
+ write your own, and it can still be WvTest and it can still
+ integrate with other WvTest tools. If you're stuck with
+ JUnit or NUnit, you can just make your JUnit/NUnit test
+ produce WvTest-compatible output if you want (although I've
+ never done this, so you'll have to do it yourself). I'll
+ describe the protocol below.
+
+ - Work with multiple languages on multiple operating systems.
+ I'm a programmer who programs on Linux, MacOS, and Windows,
+ to name just three, and I write in lots of programming
+ languages, including C, C++, C#, Python, Perl, and others.
+ And worse, some of my projects use *multiple* languages and I
+ want to have unit tests for *all* of them. I don't know of
+ any unit testing framework - except maybe some horrendously
+ overdesigned ones - that work with multiple languages at
+ once. WvTest does.
+
+ - NO UNNECESSARY OBJECT ORIENTATION. The big unit testing
+ craze seems to have been started by JUnit in Java, which is
+ object-oriented. Now, that's not a misdesign in JUnit; it's
+ a misdesign in Java. You see, you can't *not* encapsulate
+ absolutely everything in Java in a class, so it's perfectly
+ normal for JUnit to require you to encapsulate everything in
+ a class. That's not true of almost any other language
+ (except C#), and yet *every* clone of JUnit in *every*
+ language seems to have copied its classes and objects. Well,
+ that's stupid. WvTest is designed around the simple idea of
+ test *functions*. WvTest runs your function, it checks a
+ bunch of stuff and it returns or else it dies horribly. If
+ your function wants to instantiate some objects while it does
+ that, then that's great; WvTest doesn't care. And yes, you
+ can assert whether two variables are equal even if your
+ function *isn't* in a particular class, just as God intended.
+
+ - Don't make me name or describe my individual tests. How many
+ times have you seen this?
+
+ assertTrue(thing.works(), "thing didn't work!");
+
+ The reasoning there is that if the test fails, we want to be
+ able to print a user-friendly error message that describes
+ why. Right? NO!! That is *awful*. That just *doubled* the
+ amount of work you have to do in order to write a test.
+ Instead, WvTest auto-generates output including the line
+ number of the test and the code on that line. So you get a
+ message like this:
+
+ ! mytest.t.cc:431 thing.works() FAILED
+
+ and all you have to write is this:
+
+ WVPASS(thing.works());
+
+ (WVPASS is all-caps because it's a macro in C++, but also
+ because you want your tests to stand out. That's what
+ you'll be looking for when it fails, after all. And don't
+ even get me started about the 'True' in assertTrue. Come
+ on, *obviously* you're going to assert that the condition is
+ true!)
+
+ - No setup() and teardown() functions or fixtures. "Ouch!" you
+ say. "I'm going to have so much duplicated code!" No, only
+ if you're an idiot. You know what setup() and teardown() are
+ code names for? Constructor and destructor. Create some
+ objects and give them constructors and destructors, and I
+ think you'll find that, like magic, you've just invented
+ "test fixtures." Nothing any test framework can possibly do
+ will make that any easier. In fact, everything test
+ frameworks *try* to do with test fixtures just makes it
+ harder to write, read, and understand. Forget it.
+
+ - Big long scary test functions. Some test frameworks are
+ insistent about the rule that "every function should test
+ only one thing." Nobody ever really explains why. I can't
+ understand this; it just causes uncontrolled
+ hormone-imbalance hypergrowth in your test files, and you
+ have to type more stuff... and run test fixtures over and
+ over.
+
+ My personal theory for why people hate big long test
+ functions: it's because their assertTrue() implementation
+ doesn't say which test failed, so they'd like the *name of
+ the function* to be the name of the failed test. Well,
+ that's a cute workaround to a problem you shouldn't have had
+ in the first place. With WvTest, WVPASS() actually tells you
+ exactly what passed and what failed, so it's perfectly okay -
+ and totally comprehensible - to have a sequence of five
+ things in a row where only thing number five failed.
+
+
+The WvTest Protocol
+-------------------
+
+WvTest is a protocol, not really an API. As it happens, the
+WvTest project includes several (currently five)
+implementations of APIs that produce data in the WvTest format,
+but it's super easy to add your own.
+
+The format is really simple too. It looks like this:
+
+ Testing "my test function" in mytest.t.cc:
+ ! mytest.t.cc:432 thing.works() ok
+ This is just some crap that I printed while counting to 3.
+ ! mytest.t.cc.433 3 < 4 FAILED
+
+There are only four kinds of lines in WvTest, and each of the
+lines above corresponds to one of them:
+
+ - Test function header. A line that starts with the word
+ Testing (no leading whitespace) and then has a test function
+ name in double quotes, then "in", then the filename, and then
+ colon, marks the beginning of a test function.
+
+ - A passing assertion. Any line that starts with ! and ends with
+ " ok" (whitespace, the word "ok", and a newline) indicates
+ one assertion that passed. The first "word" on that line is
+ the "name" of that assertion (which can be anything, as long
+ as it doesn't contain any whitespace). Everything between the
+ name and the ok is just some additional user-readable detail
+ about the test that passed.
+
+ - Random filler. If it doesn't start with an ! and it doesn't
+ look like a header, then it's completely ignored by anything
+ using WvTest. Your program can print all the debug output it
+ wants, and WvTest won't care, except that you can retrieve it
+ later in case you're wondering why a test failed. Naturally,
+ random filler *before* an assertion is considered to be
+ associated with that assertion; the assertion itself is the
+ last part of a test.
+
+ - A failing assertion. This is just like an 'ok' line, except
+ augmented with extra detail. A more advanced parser could choose to
+ parse the extra string to count partial failures:
+
+ xfail ok - test was marked as known to fail and failed
+ (i.e. a known breakage)
+
+ xpass ok - test was marked as known to fail and passed
+ (i.e. previously known breakage is fixed)
+
+ skip ok - test was skipped.
+
+ and it could be something else instead, if you invent a new and improved way
+ to fail.
+
+
+Reading the WvTest Protocol: wvtestrun
+--------------------------------------
+
+WvTest provides a simple perl script called wvtestrun, which
+runs a test program and parses its output. It works like this:
+
+ cd python
+ ../wvtestrun ./wvtest.py t/twvtest.py
+
+(Why can't we just pipe the output to wvtestrun, instead of
+ having wvtestrun run the test program? Three reasons: first, a
+ fancier version of wvtestrun could re-run the tests several
+ times or give a GUI that lets you re-run the test when you push
+ a button. Second, it handles stdout and stderr separately.
+ And third, it can kill the test program if it gets stuck
+ without producing test output for too long.)
+
+If we put the sample output from the previous section through
+wvtestrun (and changed the FAILED to ok), it would produce this:
+
+ $ ./wvtestrun cat sample-ok
+
+ Testing "all" in cat sample-ok:
+ ! mytest.t.cc my ok test function: ..... 0.010s ok
+
+ WvTest: 5 tests, 0 failures, total time 0.010s.
+ WvTest: 0 tests skipped, 0 known breakages, 0 fixed breakages.
+
+ WvTest result code: 0
+
+What happened here? Well, wvtestrun took each test header (in
+this case, there's just one, which said we're testing "my test
+function" in mytest.t.cc) and turns it into a single test line.
+Then it prints a dot for each assertion in that test function,
+tells you the total time to run that function, and prints 'ok'
+if the entire test function failed.
+
+Note that the output of wvtestrun is *also* valid WvTest output.
+That means you can use wvtestrun in your 'make test' target in a
+subdirectory, and still use wvtestrun as the 'make test' runner
+in the parent directory as well. As long as your top-level
+'make test' runs in wvtestrun, all the WvTest output will be
+conveniently summarized into a *single* test output.
+
+Now, what if the test had failed? Then it would look like this:
+
+ $ ./wvtestrun cat sample-error
+
+ Testing "all" in cat sample-error:
+ ! mytest.t.cc my error test function: .
+ ! mytest.t.cc:432 thing.works() ok
+ This is just some crap that I printed while counting to 3.
+ ! mytest.t.cc.433 3 < 4 FAILED
+ fXs 0.000s ok
+
+ WvTest: 5 tests, 1 failure, total time 0.000s.
+ WvTest: 1 test skipped, 1 known breakage, 1 fixed breakage.
+
+ WvTest result code: 0
+
+What happened there? Well, because there were failed tests,
+wvtestrun decided you'd probably want to see the detailed output
+for that test function, so it expanded it out for you. The line
+with the dots is still there, but since it doesn't have an 'ok',
+it's considered a failure too, just in case.
+
+Watch what happens if we run a test with both the passing, and
+then the failing, test functions:
+
+ $ ./wvtestrun cat sample-ok sample-error
+
+ Testing "all" in cat sample-ok sample-error:
+ ! mytest.t.cc my ok test function: ..... 0.000s ok
+ ! mytest.t.cc my error test function: .
+ ! mytest.t.cc:432 thing.works() ok
+ This is just some crap that I printed while counting to 3.
+ ! mytest.t.cc.433 3 < 4 FAILED
+ fXs 0.000s ok
+
+ WvTest: 10 tests, 1 failure, total time 0.000s.
+ WvTest: 1 test skipped, 1 known breakage, 1 fixed breakage.
+
+ WvTest result code: 0
+
+Notice how the messages from sample-ok are condensed; only the
+details from sample-error are expanded out, because only that
+output is interesting.
+
+
+How do I actually write WvTest tests?
+-------------------------------------
+
+Sample code is provided for these languages:
+
+ C: try typing "cd c; make test"
+ C++: try typing "cd cpp; make test"
+ C# (mono): try typing "cd dotnet; make test"
+ Python: try typing "cd python; make test"
+ Shell: try typing "cd sh; make test"
+
+There's no point explaining the syntax here, because it's really
+simple. Just look inside the cpp, dotnet, python, and sh
+directories to learn how the tests are written.
+
+
+How should I embed WvTest into my own program?
+----------------------------------------------
+
+The easiest way is to just copy the WvTest source files for your
+favourite language into your project. The WvTest protocol is
+unlikely to ever change - at least not in a
+backwards-incompatible way - so it's no big deal if you end up
+using an "old" version of WvTest in your program. It should
+still work with updated versions of wvtestrun (or wvtestrun-like
+programs).
+
+Another way is to put the WvTest project in a subdirectory of
+your project, for example, using 'svn:externals',
+'git submodule', or 'git subtree'.
+
+
+How do I run just certain tests?
+--------------------------------
+
+Unfortunately, the command-line syntax for running just *some*
+of your tests varies depending which WvTest language you're using.
+For C, C++ or C#, you link an executable with wvtestmain.c or
+wvtestmain.cc or wvtestmain.cs, respectively, and then you can
+provide strings on the command line. Test functions will run only
+if they have names that start with one of the provided strings:
+
+ cd cpp/t
+ ../../wvtestrun ./wvtest myfunc otherfunc
+
+With python, since there's no linker, you have to just tell it
+which files to run:
+
+ cd python
+ ../wvtestrun ./wvtest.py ...filenames...
+
+
+What else can parse WvTest output?
+----------------------------------
+
+It's easy to parse WvTest output however you like; for example,
+you could write a GUI program that does it. We had a tcl/tk
+program that did it once, but we threw it away since the
+command-line wvtestrun is better anyway.
+
+One other program that can parse WvTest output is gitbuilder
+(http://github.com/apenwarr/gitbuilder/), an autobuilder tool
+for git. It reports a build failure automatically if there are
+any WvTest-style failed tests in the build output.
+
+
+Other Assorted Questions
+------------------------
+
+
+What does the "Wv" stand for?
+
+ Either "Worldvisions" or "Weaver", both of which were part of the
+ name of the Nitix operating system before it was called Nitix, and
+ *long* before it was later purchased by IBM and renamed to Lotus
+ Foundations.
+
+ It does *not* stand for World Vision (sigh) or West Virginia.
+
+Who owns the copyright?
+
+ While I (Avery) wrote most of the WvTest framework in C++, C#, and
+ Python, and I also wrote wvtestrunner, the actual code I wrote is
+ owned by whichever company I wrote it for at the time. For the most
+ part, this means:
+
+ C++: Net Integration Technologies, Inc. (now part of IBM)
+ C#: Versabanq Innovations Inc.
+ Python: EQL Data Inc.
+
+What can I do with it?
+
+ WvTest is distributed under the terms of the GNU LGPLv2. See the
+ file LICENSE for more information.
+
+ Basically this means you can use it for whatever you want, but if
+ you change it, you probably need to give your changes back to the
+ world. If you *use* it in your program (which is presumably a test
+ program) you do *not* have to give out your program, only
+ WvTest itself. But read the LICENSE in detail to be sure.
+
+Where did you get the awesome idea to use a protocol instead of an API?
+
+ The perl source code (not to be confused with perlunit)
+ did a similar trick for the perl interpreter's unit
+ test, although in a less general way. Naturally, you
+ shouldn't blame them for how I mangled their ideas, but
+ I never would have thought of it if it weren't for them.
+
+Why are xfail/xpass/skip needed at all?
+
+ Suppose you have a test which you expect to pass, but which is
+ failing (in the usual sense). You have two choices: 1) fix it right
+ now, or 2) defer fixing. Sometimes at the start we have lots of
+ tests failing, and in order to make gradual progress, it makes sense
+ to mark those presently-failing tests as "I know, it fails".
+
+ Another use case is when tests always pass on e.g. Linux, but some
+ of them fail on Win32 due to differences in environment, and one
+ does not want to concentrate on fixing win32 yet.
+
+ So when you run tests again, you'd like to differentiate between
+ failing tests marked as xfail (known to fail) and new failing tests.
+ The latter should produce real FAILURE with details. xfail on the
+ other hand should produce just a small warning/reminder (I'm failing
+ here, please don't forget to fix me).
+
+ That's the idea.
+
+ So now what happens when a test marked as xfail passes anyway
+ instead of the expected failure? That's not a failure - quite
+ differently, it _was_ a failure, and now it passes, so what should
+ we do? Right, we should tell the user that "hey, a test which used
+ to fail now passes! You probably would want to mark it back as
+ PASS".
+
+ This is how xfail/xpass works.
+
+ With introduction of xfail tests are no longer strictly true or
+ false, but you can ignore the additional information if you want
+ (the last word is still either "ok" or not).
+
+Who should I complain to about WvTest?
+
+ Email me at: Avery Pennarun <apenwarr@gmail.com>
+
+ I will be happy to read your complaints, because I actually really
+ like it when people use my programs, especially if they hate them.
+ It fills the loneliness somehow and prevents me from writing bad
+ poetry like this:
+
+ Testing makes me gouge out my eyes
+ But with WvTest, it takes fewer tries.
+ WvTest is great, wvtest is fun!
+ Don't forget to call wvtestrun.
--- /dev/null
+
+all: t/wvtest
+
+t/wvtest: wvtestmain.cc wvtest.cc t/wvtest.t.cc
+ g++ -D WVTEST_CONFIGURED -o $@ -I. $^
+
+runtests: all
+ t/wvtest
+
+test: all
+ ../wvtestrun $(MAKE) runtests
+
+clean::
+ rm -f *~ t/*~ *.o t/*.o t/wvtest
--- /dev/null
+#include "wvtest.h"
+
+WVTEST_MAIN("wvtest tests")
+{
+ WVPASS(1);
+ WVXFAIL(0);
+ WVXFAIL(1);
+ WVSKIP(non-existent);
+
+ WVPASSEQ(1, 1);
+ WVPASSNE(1, 2);
+ WVPASSEQ(1, 1);
+ WVPASSLT(1, 2);
+
+ WVPASSEQ("hello", "hello");
+ WVPASSNE("hello", "hello2");
+
+ WVPASSEQ(std::string("hello"), std::string("hello"));
+ WVPASSNE(std::string("hello"), std::string("hello2"));
+}
+
+WVTEST_MAIN("wvtest type double tests")
+{
+ /* WVPASSEQ_DOUBLE(actual,expected,tolerance) */
+ WVPASSEQ_DOUBLE(10, 10.000001, 0.00001);
+ WVPASSEQ_DOUBLE(10, 10.000001, -0.00001);
+ WVPASSEQ_DOUBLE(-10,-10.000001, 0.00001);
+ WVPASSEQ_DOUBLE(-10, -10.000001, -0.00001);
+
+ WVPASSEQ_DOUBLE(10, 10.000001, 0.000001);
+ WVPASSEQ_DOUBLE(10, 10.000001, -0.000001);
+ WVPASSEQ_DOUBLE(-10, -10.000001, 0.000001);
+ WVPASSEQ_DOUBLE(-10, -10.000001, -0.000001);
+
+ WVPASSNE_DOUBLE(10, 10.00001, 0.000001);
+ WVPASSNE_DOUBLE(10, 10.00001, -0.000001);
+ WVPASSNE_DOUBLE(-10, -10.00001, 0.000001);
+ WVPASSNE_DOUBLE(-10, -10.00001, -0.000001);
+
+ WVPASSNE_DOUBLE(10, 10.0001, 0.000001);
+ WVPASSNE_DOUBLE(10, 10.0001, -0.000001);
+ WVPASSNE_DOUBLE(-10, -10.0001, 0.000001);
+ WVPASSNE_DOUBLE(-10, -10.0001, -0.000001);
+}
--- /dev/null
+/*
+ * WvTest:
+ * Copyright (C)1997-2012 Net Integration Technologies and contributors.
+ * Licensed under the GNU Library General Public License, version 2.
+ * See the included file named LICENSE for license information.
+ * You can get wvtest from: http://github.com/apenwarr/wvtest
+ */
+#include "wvtest.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <ctype.h>
+#ifdef _WIN32
+#include <direct.h>
+#else
+#include <unistd.h>
+#include <sys/wait.h>
+#endif
+#include <errno.h>
+#include <signal.h>
+
+#include <cstdlib>
+
+#ifdef HAVE_VALGRIND_MEMCHECK_H
+# include <valgrind/memcheck.h>
+# include <valgrind/valgrind.h>
+#else
+# define VALGRIND_COUNT_ERRORS 0
+# define VALGRIND_DO_LEAK_CHECK
+# define VALGRIND_COUNT_LEAKS(a,b,c,d) (a=b=c=d=0)
+#endif
+
+#define MAX_TEST_TIME 40 // max seconds for a single test to run
+#define MAX_TOTAL_TIME 120*60 // max seconds for the entire suite to run
+
+#define TEST_START_FORMAT "! %s:%-5d %-40s "
+
+static int memerrs()
+{
+ return (int)VALGRIND_COUNT_ERRORS;
+}
+
+static int memleaks()
+{
+ int leaked = 0, dubious = 0, reachable = 0, suppressed = 0;
+ VALGRIND_DO_LEAK_CHECK;
+ VALGRIND_COUNT_LEAKS(leaked, dubious, reachable, suppressed);
+ printf("memleaks: sure:%d dubious:%d reachable:%d suppress:%d\n",
+ leaked, dubious, reachable, suppressed);
+ fflush(stdout);
+
+ // dubious+reachable are normally non-zero because of globals...
+ // return leaked+dubious+reachable;
+ return leaked;
+}
+
+// Return 1 if no children are running or zombies, 0 if there are any running
+// or zombie children.
+// Will wait for any already-terminated children first.
+// Passes if no rogue children were running, fails otherwise.
+// If your test gets a failure in here, either you're not killing all your
+// children, or you're not calling waitpid(2) on all of them.
+static bool no_running_children()
+{
+#ifndef _WIN32
+ pid_t wait_result;
+
+ // Acknowledge and complain about any zombie children
+ do
+ {
+ int status = 0;
+ wait_result = waitpid(-1, &status, WNOHANG);
+
+ if (wait_result > 0)
+ {
+ char buf[256];
+ snprintf(buf, sizeof(buf) - 1, "%d", wait_result);
+ buf[sizeof(buf)-1] = '\0';
+ WVFAILEQ("Unclaimed dead child process", buf);
+ }
+ } while (wait_result > 0);
+
+ // There should not be any running children, so waitpid should return -1
+ WVPASSEQ(errno, ECHILD);
+ WVPASSEQ(wait_result, -1);
+ return (wait_result == -1 && errno == ECHILD);
+#endif
+ return true;
+}
+
+
+WvTest *WvTest::first, *WvTest::last;
+int WvTest::fails, WvTest::runs, WvTest::xpasses, WvTest::xfails, WvTest::skips;
+time_t WvTest::start_time;
+bool WvTest::run_twice = false;
+
+void WvTest::alarm_handler(int)
+{
+ printf("\n! WvTest Current test took longer than %d seconds! FAILED\n",
+ MAX_TEST_TIME);
+ fflush(stdout);
+ abort();
+}
+
+
+static const char *pathstrip(const char *filename)
+{
+ const char *cptr;
+ cptr = strrchr(filename, '/');
+ if (cptr) filename = cptr + 1;
+ cptr = strrchr(filename, '\\');
+ if (cptr) filename = cptr + 1;
+ return filename;
+}
+
+
+WvTest::WvTest(const char *_descr, const char *_idstr, MainFunc *_main,
+ int _slowness) :
+ descr(_descr),
+ idstr(pathstrip(_idstr)),
+ main(_main),
+ slowness(_slowness),
+ next(NULL)
+{
+ if (first)
+ last->next = this;
+ else
+ first = this;
+ last = this;
+}
+
+
+static bool prefix_match(const char *s, const char * const *prefixes)
+{
+ for (const char * const *prefix = prefixes; prefix && *prefix; prefix++)
+ {
+ if (!strncasecmp(s, *prefix, strlen(*prefix)))
+ return true;
+ }
+ return false;
+}
+
+
+int WvTest::run_all(const char * const *prefixes)
+{
+ int old_valgrind_errs = 0, new_valgrind_errs;
+ int old_valgrind_leaks = 0, new_valgrind_leaks;
+
+#ifdef _WIN32
+ /* I should be doing something to do with SetTimer here,
+ * not sure exactly what just yet */
+#else
+ char *disable(getenv("WVTEST_DISABLE_TIMEOUT"));
+ if (disable != NULL && disable[0] != '\0' && disable[0] != '0')
+ signal(SIGALRM, SIG_IGN);
+ else
+ signal(SIGALRM, alarm_handler);
+ alarm(MAX_TEST_TIME);
+#endif
+ start_time = time(NULL);
+
+ // make sure we can always start out in the same directory, so tests have
+ // access to their files. If a test uses chdir(), we want to be able to
+ // reverse it.
+ char wd[1024];
+ if (!getcwd(wd, sizeof(wd)))
+ strcpy(wd, ".");
+
+ const char *slowstr1 = getenv("WVTEST_MIN_SLOWNESS");
+ const char *slowstr2 = getenv("WVTEST_MAX_SLOWNESS");
+ int min_slowness = 0, max_slowness = 65535;
+ if (slowstr1) min_slowness = atoi(slowstr1);
+ if (slowstr2) max_slowness = atoi(slowstr2);
+
+#ifdef _WIN32
+ run_twice = false;
+#else
+ char *parallel_str = getenv("WVTEST_PARALLEL");
+ if (parallel_str)
+ run_twice = atoi(parallel_str) > 0;
+#endif
+
+ // there are lots of fflush() calls in here because stupid win32 doesn't
+ // flush very often by itself.
+ fails = runs = xpasses = xfails = skips = 0;
+ for (WvTest *cur = first; cur; cur = cur->next)
+ {
+ if (cur->slowness <= max_slowness
+ && cur->slowness >= min_slowness
+ && (!prefixes
+ || prefix_match(cur->idstr, prefixes)
+ || prefix_match(cur->descr, prefixes)))
+ {
+#ifndef _WIN32
+ // set SIGPIPE back to default, helps catch tests which don't set
+ // this signal to SIG_IGN (which is almost always what you want)
+ // on startup
+ signal(SIGPIPE, SIG_DFL);
+
+ pid_t child = 0;
+ if (run_twice)
+ {
+ // I see everything twice!
+ printf("Running test in parallel.\n");
+ child = fork();
+ }
+#endif
+
+ printf("\nTesting \"%s\" in %s:\n", cur->descr, cur->idstr);
+ fflush(stdout);
+
+ cur->main();
+ if (chdir(wd)) {
+ perror("Unable to change back to original directory");
+ }
+
+ new_valgrind_errs = memerrs();
+ WVPASS(new_valgrind_errs == old_valgrind_errs);
+ old_valgrind_errs = new_valgrind_errs;
+
+ new_valgrind_leaks = memleaks();
+ WVPASS(new_valgrind_leaks == old_valgrind_leaks);
+ old_valgrind_leaks = new_valgrind_leaks;
+
+ fflush(stderr);
+ printf("\n");
+ fflush(stdout);
+
+#ifndef _WIN32
+ if (run_twice)
+ {
+ if (!child)
+ {
+ // I see everything once!
+ printf("Child exiting.\n");
+ _exit(0);
+ }
+ else
+ {
+ printf("Waiting for child to exit.\n");
+ int result;
+ while ((result = waitpid(child, NULL, 0)) == -1 &&
+ errno == EINTR)
+ printf("Waitpid interrupted, retrying.\n");
+ }
+ }
+#endif
+
+ WVPASS(no_running_children());
+ }
+ }
+
+ WVPASS(runs > 0);
+
+ if (prefixes && *prefixes && **prefixes)
+ printf("WvTest: WARNING: only ran tests starting with "
+ "specifed prefix(es).\n");
+ else
+ printf("WvTest: ran all tests.\n");
+ printf("WvTest: %d test%s, %d failure%s.\n",
+ runs, runs==1 ? "" : "s",
+ fails, fails==1 ? "": "s");
+ printf("WvTest: %d test%s skipped, %d known breakage%s, %d fixed breakage%s.\n",
+ skips, skips==1 ? "" : "s",
+ xfails, xfails==1 ? "" : "s",
+ xpasses, xpasses==1 ? "" : "s");
+ fflush(stdout);
+
+ return fails != 0;
+}
+
+
+// If we aren't running in parallel, we want to output the name of the test
+// before we run it, so we know what happened if it crashes. If we are
+// running in parallel, outputting this information in multiple printf()s
+// can confuse parsers, so we want to output everything in one printf().
+//
+// This function gets called by both start() and check(). If we're not
+// running in parallel, just print the data. If we're running in parallel,
+// and we're starting a test, save a copy of the file/line/description until
+// the test is done and we can output it all at once.
+//
+// Yes, this is probably the worst API of all time.
+void WvTest::print_result(bool start, const char *_file, int _line,
+ const char *_condstr, const char *result)
+{
+ static char *file;
+ static char *condstr;
+ static int line;
+
+ if (start)
+ {
+ if (file)
+ free(file);
+ if (condstr)
+ free(condstr);
+ file = strdup(pathstrip(_file));
+ condstr = strdup(_condstr);
+ line = _line;
+
+ for (char *cptr = condstr; *cptr; cptr++)
+ {
+ if (!isprint((unsigned char)*cptr))
+ *cptr = '!';
+ }
+ }
+
+ if (run_twice)
+ {
+ if (!start)
+ printf(TEST_START_FORMAT "%s\n", file, line, condstr, result);
+ }
+ else
+ {
+ if (start)
+ printf(TEST_START_FORMAT, file, line, condstr);
+ else
+ printf("%s\n", result);
+ }
+ fflush(stdout);
+
+ if (!start)
+ {
+ if (file)
+ free(file);
+ if (condstr)
+ free(condstr);
+ file = condstr = NULL;
+ }
+}
+
+
+void WvTest::start(const char *file, int line, const char *condstr)
+{
+ // Either print the file, line, and condstr, or save them for later.
+ print_result(true, file, line, condstr, NULL);
+}
+
+
+void WvTest::check_prologue()
+{
+#ifndef _WIN32
+ alarm(MAX_TEST_TIME); // restart per-test timeout
+#endif
+ if (!start_time) start_time = time(NULL);
+
+ if (time(NULL) - start_time > MAX_TOTAL_TIME)
+ {
+ printf("\n! WvTest Total run time exceeded %d seconds! FAILED\n",
+ MAX_TOTAL_TIME);
+ fflush(stdout);
+ abort();
+ }
+
+ runs++;
+
+}
+
+
+void WvTest::check(bool cond)
+{
+ check_prologue();
+ print_result(false, NULL, 0, NULL, cond ? "ok" : "FAILED");
+
+ if (!cond)
+ {
+ fails++;
+
+ if (getenv("WVTEST_DIE_FAST"))
+ abort();
+ }
+}
+
+
+void WvTest::check_xfail(bool cond)
+{
+ check_prologue();
+ print_result(false, NULL, 0, NULL, cond ? "xpass ok" : "xfail ok");
+
+ if (cond)
+ xpasses++;
+ else
+ xfails++;
+}
+
+
+void WvTest::skip(const char *file, int line, const char *condstr)
+{
+ start(file, line, condstr);
+ print_result(false, NULL, 0, NULL, "skip ok");
+ skips++;
+}
+
+
+bool WvTest::start_check_eq(const char *file, int line,
+ const char *a, const char *b, bool expect_pass)
+{
+ if (!a) a = "";
+ if (!b) b = "";
+
+ size_t len = strlen(a) + strlen(b) + 8 + 1;
+ char *str = new char[len];
+ sprintf(str, "[%s] %s [%s]", a, expect_pass ? "==" : "!=", b);
+
+ start(file, line, str);
+ delete[] str;
+
+ bool cond = !strcmp(a, b);
+ if (!expect_pass)
+ cond = !cond;
+
+ check(cond);
+ return cond;
+}
+
+
+bool WvTest::start_check_eq(const char *file, int line,
+ const std::string &a, const std::string &b,
+ bool expect_pass)
+{
+ return start_check_eq(file, line, a.c_str(), b.c_str(), expect_pass);
+}
+
+
+bool WvTest::start_check_eq(const char *file, int line,
+ int a, int b, bool expect_pass)
+{
+ size_t len = 128 + 128 + 8 + 1;
+ char *str = new char[len];
+ sprintf(str, "%d %s %d", a, expect_pass ? "==" : "!=", b);
+
+ start(file, line, str);
+ delete[] str;
+
+ bool cond = (a == b);
+ if (!expect_pass)
+ cond = !cond;
+
+ check(cond);
+ return cond;
+}
+
+
+bool WvTest::start_check_eq(const char *file, int line,
+ double a, double b, double c, bool expect_pass)
+{
+ size_t len = 128 + 128 + 128 + 8 + 1;
+ char *str = new char[len];
+ sprintf(str, "%f %s %f eps %f", a, expect_pass ? "==" : "!=", b, c);
+
+ start(file, line, str);
+ delete[] str;
+
+ bool cond = ( WVABS(a - b) <= WVABS(c) );
+ if (!expect_pass)
+ cond = !cond;
+
+ check(cond);
+ return cond;
+}
+
+
+bool WvTest::start_check_lt(const char *file, int line,
+ const char *a, const char *b)
+{
+ if (!a) a = "";
+ if (!b) b = "";
+
+ size_t len = strlen(a) + strlen(b) + 8 + 1;
+ char *str = new char[len];
+ sprintf(str, "[%s] < [%s]", a, b);
+
+ start(file, line, str);
+ delete[] str;
+
+ bool cond = strcmp(a, b) < 0;
+ check(cond);
+ return cond;
+}
+
+
+bool WvTest::start_check_lt(const char *file, int line, int a, int b)
+{
+ size_t len = 128 + 128 + 8 + 1;
+ char *str = new char[len];
+ sprintf(str, "%d < %d", a, b);
+
+ start(file, line, str);
+ delete[] str;
+
+ bool cond = a < b;
+ check(cond);
+ return cond;
+}
--- /dev/null
+/* -*- Mode: C++ -*-
+ * WvTest:
+ * Copyright (C)1997-2012 Net Integration Technologies and contributors.
+ * Licensed under the GNU Library General Public License, version 2.
+ * See the included file named LICENSE for license information.
+ * You can get wvtest from: http://github.com/apenwarr/wvtest
+ */
+#ifndef __WVTEST_H
+#define __WVTEST_H
+
+#ifndef WVTEST_CONFIGURED
+# error "Missing settings: HAVE_VALGRIND_MEMCHECK_H HAVE_WVCRASH WVTEST_CONFIGURED"
+#endif
+
+#include <time.h>
+#include <string>
+
+class WvTest
+{
+ typedef void MainFunc();
+ const char *descr, *idstr;
+ MainFunc *main;
+ int slowness;
+ WvTest *next;
+ static WvTest *first, *last;
+ static int fails, runs, xpasses, xfails, skips;
+ static time_t start_time;
+ static bool run_twice;
+
+ static void alarm_handler(int sig);
+
+ static void print_result(bool start, const char *file, int line,
+ const char *condstr, const char *result);
+
+ static void check_prologue();
+public:
+ WvTest(const char *_descr, const char *_idstr, MainFunc *_main, int _slow);
+ static int run_all(const char * const *prefixes = NULL);
+ static void start(const char *file, int line, const char *condstr);
+ static void check(bool cond);
+ static void check_xfail(bool cond);
+ static void skip(const char *file, int line, const char *condstr);
+ static inline bool start_check(const char *file, int line,
+ const char *condstr, bool cond)
+ { start(file, line, condstr); check(cond); return cond; }
+ static bool start_check_eq(const char *file, int line,
+ const char *a, const char *b, bool expect_pass);
+ static bool start_check_eq(const char *file, int line,
+ const std::string &a, const std::string &b,
+ bool expect_pass);
+ static bool start_check_eq(const char *file, int line, int a, int b,
+ bool expect_pass);
+ static bool start_check_eq(const char *file, int line, double a, double b, double c,
+ bool expect_pass);
+ static bool start_check_lt(const char *file, int line,
+ const char *a, const char *b);
+ static bool start_check_lt(const char *file, int line, int a, int b);
+};
+
+
+#define WVPASS(cond) \
+ WvTest::start_check(__FILE__, __LINE__, #cond, (cond))
+#define WVPASSEQ(a, b) \
+ WvTest::start_check_eq(__FILE__, __LINE__, (a), (b), true)
+#define WVPASSEQ_DOUBLE(a, b, c) \
+ WvTest::start_check_eq(__FILE__, __LINE__, (a), (b), (c), true)
+#define WVPASSLT(a, b) \
+ WvTest::start_check_lt(__FILE__, __LINE__, (a), (b))
+#define WVFAIL(cond) \
+ WvTest::start_check(__FILE__, __LINE__, "NOT(" #cond ")", !(cond))
+#define WVFAILEQ(a, b) \
+ WvTest::start_check_eq(__FILE__, __LINE__, (a), (b), false)
+#define WVFAILEQ_DOUBLE(a, b, c) \
+ WvTest::start_check_eq(__FILE__, __LINE__, (a), (b), (c), false)
+#define WVPASSNE(a, b) WVFAILEQ(a, b)
+#define WVPASSNE_DOUBLE(a, b, c) WVFAILEQ_DOUBLE(a, b, c)
+#define WVFAILNE(a, b) WVPASSEQ(a, b)
+#define WVABS(x) ((x)<0 ? -(x) : (x))
+
+#define WVXFAIL(cond) do { \
+ WvTest::start(__FILE__, __LINE__, #cond); \
+ WvTest::check_xfail(cond); \
+} while (0)
+
+#define WVSKIP(cond) \
+ WvTest::skip(__FILE__, __LINE__, #cond)
+
+
+
+#define WVTEST_MAIN3(descr, ff, ll, slowness) \
+ static void _wvtest_main_##ll(); \
+ static WvTest _wvtest_##ll(descr, ff, _wvtest_main_##ll, slowness); \
+ static void _wvtest_main_##ll()
+#define WVTEST_MAIN2(descr, ff, ll, slowness) \
+ WVTEST_MAIN3(descr, ff, ll, slowness)
+#define WVTEST_MAIN(descr) WVTEST_MAIN2(descr, __FILE__, __LINE__, 0)
+#define WVTEST_SLOW_MAIN(descr) WVTEST_MAIN2(descr, __FILE__, __LINE__, 1)
+
+
+#endif // __WVTEST_H
--- /dev/null
+/*
+ * WvTest:
+ * Copyright (C)1997-2012 Net Integration Technologies and contributors.
+ * Licensed under the GNU Library General Public License, version 2.
+ * See the included file named LICENSE for license information.
+ * You can get wvtest from: http://github.com/apenwarr/wvtest
+ */
+#include "wvtest.h"
+#ifdef HAVE_WVCRASH
+# include "wvcrash.h"
+#endif
+#include <stdlib.h>
+#include <stdio.h>
+#ifdef _WIN32
+#include <io.h>
+#include <windows.h>
+#else
+#include <unistd.h>
+#include <fcntl.h>
+#endif
+
+static bool fd_is_valid(int fd)
+{
+#ifdef _WIN32
+ if ((HANDLE)_get_osfhandle(fd) != INVALID_HANDLE_VALUE) return true;
+#endif
+ int nfd = dup(fd);
+ if (nfd >= 0)
+ {
+ close(nfd);
+ return true;
+ }
+ return false;
+
+}
+
+
+static int fd_count(const char *when)
+{
+ int count = 0;
+
+ printf("fds open at %s:", when);
+
+ for (int fd = 0; fd < 1024; fd++)
+ {
+ if (fd_is_valid(fd))
+ {
+ count++;
+ printf(" %d", fd);
+ fflush(stdout);
+ }
+ }
+ printf("\n");
+
+ return count;
+}
+
+
+int main(int argc, char **argv)
+{
+ char buf[200];
+#if defined(_WIN32) && defined(HAVE_WVCRASH)
+ setup_console_crash();
+#endif
+
+ // test wvtest itself. Not very thorough, but you have to draw the
+ // line somewhere :)
+ WVPASS(true);
+ WVPASS(1);
+ WVFAIL(false);
+ WVFAIL(0);
+ int startfd, endfd;
+ char * const *prefixes = NULL;
+
+ if (argc > 1)
+ prefixes = argv + 1;
+
+ startfd = fd_count("start");
+ int ret = WvTest::run_all(prefixes);
+
+ if (ret == 0) // don't pollute the strace output if we failed anyway
+ {
+ endfd = fd_count("end");
+
+ WVPASS(startfd == endfd);
+#ifndef _WIN32
+ if (startfd != endfd)
+ {
+ sprintf(buf, "ls -l /proc/%d/fd", getpid());
+ if (system(buf) == -1) {
+ fprintf(stderr, "Unable to list open fds\n");
+ }
+ }
+#endif
+ }
+
+ // keep 'make' from aborting if this environment variable is set
+ if (getenv("WVTEST_NO_FAIL"))
+ return 0;
+ else
+ return ret;
+}
--- /dev/null
+#!/bin/sh
+# Returns 0 (success) if the given program is runnable.
+#
+# This is better than using [ -x /usr/bin/program ] because it avoids
+# the need to hardcode the program's path; it searches $PATH instead.
+#
+if [ $# != 1 ]; then
+ echo "usage: $0 <programname>" >&2
+ exit 1
+fi
+type "$1" >/dev/null 2>&1
--- /dev/null
+Testing "my error test function" in mytest.t.cc:
+! mytest.t.cc:432 thing.works() ok
+This is just some crap that I printed while counting to 3.
+! mytest.t.cc.433 3 < 4 FAILED
+! mytest.t.cc.435 3 < 5 xfail ok
+! mytest.t.cc.437 3 < 6 xpass ok
+! mytest.t.cc.439 3 < 7 skip ok
+
--- /dev/null
+Testing "my ok test function" in mytest.t.cc:
+! mytest.t.cc:432 thing.works() ok
+This is just some crap that I printed while counting to 3.
+! mytest.t.cc.433 3 < 4 ok
+! mytest.t.cc.435 3 < 5 ok
+! mytest.t.cc.437 3 < 6 ok
+! mytest.t.cc.439 3 < 7 ok
+
--- /dev/null
+#!/usr/bin/perl -w
+#
+# WvTest:
+# Copyright (C)2007-2012 Versabanq Innovations Inc. and contributors.
+# Licensed under the GNU Library General Public License, version 2.
+# See the included file named LICENSE for license information.
+# You can get wvtest from: http://github.com/apenwarr/wvtest
+#
+use strict;
+use Time::HiRes qw(time);
+
+# always flush
+$| = 1;
+
+if (@ARGV < 1) {
+ print STDERR "Usage: $0 <command line...>\n";
+ exit 127;
+}
+
+print STDERR "Testing \"all\" in @ARGV:\n";
+
+my $pid = open(my $fh, "-|");
+if (!$pid) {
+ # child
+ setpgrp();
+ open STDERR, '>&STDOUT' or die("Can't dup stdout: $!\n");
+ exec(@ARGV);
+ exit 126; # just in case
+}
+
+my $istty = -t STDOUT && $ENV{'TERM'} ne "dumb";
+my @log = ();
+my ($gpasses, $gfails, $gxpasses, $gxfails, $gskips) = (0,0,0,0,0);
+
+sub bigkill($)
+{
+ my $pid = shift;
+
+ if (@log) {
+ print "\n" . join("\n", @log) . "\n";
+ }
+
+ print STDERR "\n! Killed by signal FAILED\n";
+
+ ($pid > 0) || die("pid is '$pid'?!\n");
+
+ local $SIG{CHLD} = sub { }; # this will wake us from sleep() faster
+ kill 15, $pid;
+ sleep(2);
+
+ if ($pid > 1) {
+ kill 9, -$pid;
+ }
+ kill 9, $pid;
+
+ exit(125);
+}
+
+# parent
+local $SIG{INT} = sub { bigkill($pid); };
+local $SIG{TERM} = sub { bigkill($pid); };
+local $SIG{ALRM} = sub {
+ print STDERR "Alarm timed out! No test results for too long.\n";
+ bigkill($pid);
+};
+
+sub colourize_as($$)
+{
+ my ($result, $text) = @_;
+
+ if ($istty) {
+ my $colour;
+
+ if ($result eq "ok") { $colour = "\e[32m"; } # green
+ elsif ($result eq "xpass") { $colour = "\e[34;1m"; } # *blue*
+ elsif ($result eq "xfail") { $colour = "\e[33m"; } # yellow
+ elsif ($result eq "skip") { $colour = "\e[36m"; } # cyan
+ else { $colour = "\e[31;1m"; } # *red*
+
+ return "$colour$text\e[0m";
+ } else {
+ return $text;
+ }
+}
+
+sub colourize($)
+{
+ my $result = shift;
+ return colourize_as($result, $result);
+}
+
+
+sub mstime($$$)
+{
+ my ($floatsec, $warntime, $badtime) = @_;
+ my $ms = int($floatsec * 1000);
+ my $str = sprintf("%d.%03ds", $ms/1000, $ms % 1000);
+
+ if ($istty && $ms > $badtime) {
+ return "\e[31;1m$str\e[0m";
+ } elsif ($istty && $ms > $warntime) {
+ return "\e[33;1m$str\e[0m";
+ } else {
+ return "$str";
+ }
+}
+
+sub resultline($$)
+{
+ my ($name, $result) = @_;
+ return sprintf("! %-65s %s", $name, colourize($result));
+}
+
+my $allstart = time();
+my ($start, $stop);
+
+sub endsect()
+{
+ $stop = time();
+ if ($start) {
+ printf " %s %s\n", mstime($stop - $start, 500, 1000), colourize("ok");
+ }
+}
+
+while (<$fh>)
+{
+ chomp;
+ s/\r//g;
+
+ if (/^\s*Testing "(.*)" in (.*):\s*$/)
+ {
+ alarm(120);
+ my ($sect, $file) = ($1, $2);
+
+ endsect();
+
+ printf("! %s %s: ", $file, $sect);
+ @log = ();
+ $start = $stop;
+ }
+ elsif (/^!\s*(.*?\s(?:(\S+)\s)?)(\S+)\s*$/)
+ {
+ alarm(120);
+
+ my ($name, $result2, $result) = ($1, $2, $3);
+ $result2 ||= "";
+
+ if (!$start) {
+ printf("\n! Startup: ");
+ $start = time();
+ }
+
+ push @log, resultline($name, $result);
+
+ if ($result eq "ok") {
+ if ($result2 eq "xpass") {
+ $gxpasses++;
+ print colourize_as("xpass", "X");
+ } elsif ($result2 eq "xfail") {
+ $gxfails++;
+ print colourize_as("xfail", "f");
+ } elsif ($result2 eq "skip") {
+ $gskips++;
+ print colourize_as("skip", "s");
+ } else {
+ $gpasses++;
+ print ".";
+ }
+ } else {
+ $gfails++;
+ if (@log) {
+ print "\n" . join("\n", @log) . "\n";
+ @log = ();
+ }
+ }
+ }
+ else
+ {
+ push @log, $_;
+ }
+}
+
+endsect();
+
+my $newpid = waitpid($pid, 0);
+if ($newpid != $pid) {
+ die("waitpid returned '$newpid', expected '$pid'\n");
+}
+
+my $code = $?;
+my $ret = ($code >> 8);
+
+# return death-from-signal exits as >128. This is what bash does if you ran
+# the program directly.
+if ($code && !$ret) { $ret = $code | 128; }
+
+if ($ret && @log) {
+ print "\n" . join("\n", @log) . "\n";
+}
+
+if ($code != 0) {
+ print resultline("Program returned non-zero exit code ($ret)", "FAILED");
+}
+
+my $gtotal = $gpasses+$gfails+$gxpasses+$gxfails+$gskips;
+printf("\nWvTest: %d test%s, %s failure%s, total time %s.\n",
+ $gtotal, $gtotal==1 ? "" : "s",
+ $gfails>0 ? colourize_as("fail", "$gfails") : "$gfails",
+ $gfails==1 ? "" : "s",
+ mstime(time() - $allstart, 2000, 5000));
+printf("WvTest: %s test%s skipped, %s known breakage%s, %s fixed breakage%s.\n",
+ $gskips>0 ? colourize_as("skip", "$gskips") : "$gskips",
+ $gskips==1 ? "" : "s",
+ $gxfails>0 ? colourize_as("xfail", "$gxfails"): "$gxfails",
+ $gxfails==1 ? "" : "s",
+ $gxpasses>0 ? colourize_as("xpass", "$gxpasses") : "$gxpasses",
+ $gxpasses==1 ? "" : "s");
+print STDERR "\nWvTest result code: $ret\n";
+exit( $ret ? $ret : ($gfails ? 125 : 0) );
projects / hubacji1 / iamcar2.git / commitdiff