Fix/build time

.github/workflows/build.yaml

@@ -8,12 +8,12 @@ on:
   pull_request:
   workflow_dispatch:
 jobs:
-  build:
+  test:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies
-        run: sudo apt install libeigen3-dev libgtest-dev libginac-dev
+        run: sudo apt install libeigen3-dev libgtest-dev
       - name: Install Python dependencies
         run: |
           python -m pip install --upgrade pip
@@ -24,8 +24,26 @@ jobs:
         working-directory: ${{github.workspace}}
         run: |
           JOBS=$(($(grep cpu.cores /proc/cpuinfo | sort -u | sed 's/[^0-9]//g') + 1))
-          cmake -S . -B build -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON -DBUILD_BENCHMARKS=ON
+          cmake -S . -B build -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=ON -DBUILD_BENCHMARKS=OFF
           cmake --build build -j${JOBS}
           cd build
           ctest
-
+
+  example:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install dependencies
+        run: sudo apt install libeigen3-dev libgtest-dev
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pipenv
+          pip install numpy
+          pip install matplotlib
+      - name: Build & Test
+        working-directory: ${{github.workspace}}
+        run: |
+          JOBS=$(($(grep cpu.cores /proc/cpuinfo | sort -u | sed 's/[^0-9]//g') + 1))
+          cmake -S . -B build -DBUILD_EXAMPLES=ON -DBUILD_TESTS=OFF -DBUILD_BENCHMARKS=OFF
+          cmake --build build -j${JOBS}

CMakeLists.txt

@@ -79,11 +79,11 @@ if(BUILD_TESTS)
 find_package(GTest REQUIRED)
 enable_testing()
 set(test_files
-  common/lib_test
+  # common/lib_test
   utility/singleton_test
+  utility/random_test
 
   algorithm/poly_regression_test
-  algorithm/random_test
   algorithm/k_means_test
   algorithm/auto_diff_test
   algorithm/icp_test
@@ -129,14 +129,17 @@ if(BUILD_BENCHMARKS)
 
 find_package(Python3 COMPONENTS Development NumPy)
 
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftime-report")
+
 set(bench_test_files
+  build_time
   autodiff
   eigen_arg_ret
 )
 
 foreach(bench_test_file ${bench_test_files})
-get_filename_component(bench_test_file benckmark/${bench_test_file}.cpp NAME_WE)
-add_executable(bench_${bench_test_file} benckmark/${bench_test_file}.cpp)
+get_filename_component(bench_test_file benchmark/${bench_test_file}.cpp NAME_WE)
+add_executable(bench_${bench_test_file} benchmark/${bench_test_file}.cpp)
 target_include_directories(bench_${bench_test_file} PRIVATE include)
 target_link_libraries(bench_${bench_test_file} PRIVATE Eigen3::Eigen Python3::Python Python3::NumPy)
 endforeach()

benchmark/build_time.cpp

@@ -0,0 +1,15 @@
+// utility core
+#include "cpp_robotics/utility.hpp" // 1.15
+#include "cpp_robotics/vector.hpp" // 0.26
+#include "cpp_robotics/unit.hpp" // 0.29
+
+#include "cpp_robotics/system.hpp" // 2.4
+#include "cpp_robotics/controller.hpp" // 3.0
+#include "cpp_robotics/filter.hpp" // 2.0
+
+#include "cpp_robotics/chassis.hpp" // 1.9
+#include "cpp_robotics/motor.hpp" // 2.0
+
+int main() {
+  return 0;
+}

example/algorithm/icp_sample.cpp

@@ -1,9 +1,9 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
 #include <iomanip>
-#include <cpp_robotics/algorithm.hpp>
+#include <cpp_robotics/matplotlibcpp.hpp>
+#include <cpp_robotics/algorithm/icp.hpp>
 #include <cpp_robotics/vector/vector2.hpp>
-#include <cpp_robotics/third_party/matplotlib-cpp/matplotlibcpp.h>
 #include <Eigen/Geometry> 
 
 int main()

example/algorithm/random_example.cpp

@@ -1,5 +1,5 @@
 #include <iostream>
-#include <cpp_robotics/algorithm.hpp>
+#include <cpp_robotics/utility.hpp>
 
 double random_std()
 {

example/controller/canonicalize.cpp

@@ -2,6 +2,7 @@
 #include <iomanip>
 #include <cpp_robotics/system.hpp>
 #include <cpp_robotics/controller.hpp>
+#include <cpp_robotics/controller/modern_control.hpp>
 
 #define PRINT_MAT(MAT) \
     std::cout << #MAT << std::endl;\

example/controller/linear_mpc.cpp

@@ -1,10 +1,9 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
-
-#include <cpp_robotics/core.hpp>
+#include <cpp_robotics/utility.hpp>
 #include <cpp_robotics/controller/linear_mpc.hpp>
 #include <cpp_robotics/system/state_space_system.hpp>
-#include <limits>
+#include <cpp_robotics/matplotlibcpp.hpp>
 
 
 int main()

example/controller/lqr.cpp

@@ -1,7 +1,8 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
-#include <cpp_robotics/core.hpp>
-
+#include <cpp_robotics/system.hpp>
+#include <cpp_robotics/controller/lqr.hpp>
+#include <cpp_robotics/matplotlibcpp.hpp>
 
 int main()
 {

example/controller/motor_pid_control.cpp

@@ -1,8 +1,8 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
-#include <cpp_robotics/core.hpp>
-#include <cpp_robotics/motor/dc_motor_list.hpp>
-#include <cpp_robotics/motor/motor_tf.hpp>
+#include <cpp_robotics/utility.hpp>
+#include <cpp_robotics/system.hpp>
+#include <cpp_robotics/motor.hpp>
 
 static std::tuple<std::vector<double>, std::vector<double>> ref_trajectory(double time, double dt)
 {

example/controller/nctf_example.cpp

@@ -1,8 +1,9 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
-#include <cpp_robotics/core.hpp>
-#include <cpp_robotics/motor/dc_motor_list.hpp>
-#include <cpp_robotics/motor/motor_tf.hpp>
+#include <cpp_robotics/utility.hpp>
+#include <cpp_robotics/motor.hpp>
+#include <cpp_robotics/controller.hpp>
+#include <cpp_robotics/system.hpp>
 
 static std::tuple<std::vector<double>, std::vector<double>> ref_trajectory(double time, double dt)
 {

example/controller/pid_vs_nctf.cpp

@@ -1,8 +1,9 @@
 #define CR_USE_MATPLOTLIB
 #include <iostream>
-#include <cpp_robotics/core.hpp>
-#include <cpp_robotics/motor/dc_motor_list.hpp>
-#include <cpp_robotics/motor/motor_tf.hpp>
+#include <cpp_robotics/utility.hpp>
+#include <cpp_robotics/system.hpp>
+#include <cpp_robotics/controller.hpp>
+#include <cpp_robotics/motor.hpp>
 
 static std::tuple<std::vector<double>, std::vector<double>> ref_trajectory(double time, double dt)
 {

example/controller/place.cpp

@@ -3,6 +3,7 @@
 #include <iomanip>
 #include <cpp_robotics/system.hpp>
 #include <cpp_robotics/controller.hpp>
+#include <cpp_robotics/controller/modern_control.hpp>
 
 #define PRINT_MAT(MAT) \
     std::cout << #MAT << std::endl;\