update SDK to dev

accerionsdk/CHANGELOG.md

@@ -19,11 +19,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Method to combine(with update strategy) two maps
 - Search radius is shown in plot_external_reference_timeseries
 - Configuration param 'velocity interval' for correction count plots 
+- MapMerge utility function in AccerionMapManagement library
+- CombineMap tool to merge or update db files
 ### Fixed
 - Python map plots that use 'add_input_poses' (via 'overlay input poses' param) uses external reference logs (LER)
 - Time interval not in right units (ms) for ARAMS logs pre v7.1
 - Mean residual heading error not in right units (m instead of deg)
 - Eigen version now set to 3.4.1
+- plot_external_reference_timeseries would not run if dataset contained no drift corrections
+### Changed
+- (Multi)Area functionality is now (Multi)Map and uses a string as an identifier instead of an integer
+- Added functionality in CLI to create and rename maps
+- GetPoses application now also plots external reference pose
+### Removed
+- max_page_count pragma check in validation
 
 ## [7.1.1]
 - No changes, please refer to the official release notes

accerionsdk/CMakeLists.txt

@@ -1,73 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-
-option(BUILD_SHARED_LIBS "Build using shared libraries" OFF)
-
-option(DATABASE_HANDLING "Include the build of database handling" ON)
-option(MAP "Include the build of map" ON)
-option(MAP_MANAGEMENT "Include the build of map management" ON)
-option(PGO "Include the build of pgo" ON)
-option(POSE_MANAGER "Include the build of the pose manager" ON)
-option(UTILITIES "Include the build of the pose manager" ON)
-option(TOOLS "Include the build of the tools" ON)
-option(EXAMPLES "Include the build of the examples" OFF)
-option(UNIT_TESTS "Include the build of the unit tests" OFF)
-
-# Dependent option/variable
-if(NOT UTILITIES AND (${EXAMPLES} OR ${TOOLS}))
-    set(UTILITIES ON)
-endif()
-
-set(DEBUGMODE OFF)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
-endif()
-
-add_subdirectory(accerionsensorapi)
-
-include(cmake/Base.cmake)
-
-if(DATABASE_HANDLING)
-    if(UNIT_TESTS)
-        set(UTILITIES ON)
-    endif()
-    include(cmake/BuildAccerionDatabaseHandling.cmake)
-endif()
-
-if(MAP)
-    include(cmake/BuildAccerionMap.cmake)
-endif()
-
-if(MAP_MANAGEMENT)
-    include(cmake/BuildAccerionMapManagement.cmake)
-endif()
-
-if(PGO)
-    include(cmake/BuildAccerionPgo.cmake)
-endif()
-
-if(POSE_MANAGER)
-    include(cmake/BuildAccerionPoseManager.cmake)
-endif()
-
-if(UTILITIES)
-    include(cmake/BuildAccerionUtilities.cmake)
-endif()
-
-# Dummy project without a target, but
-#  - it prevents a cmake warning, and
-#  - it will be the name of the windows solution file used for the continuous integration build for windows
-project(SDK)
-
-if(TOOLS)
-    add_subdirectory(tools/command-line-interface)
-endif()
-
-if(EXAMPLES)
-    add_subdirectory(examples)
-endif()
-
-if(UNIT_TESTS)
-    add_subdirectory(tests)
-endif()

accerionsdk/LICENSE

@@ -1,201 +0,0 @@
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
-      "License" shall mean the terms and conditions for use, reproduction,
-      and distribution as defined by Sections 1 through 9 of this document.
-
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-      the copyright owner that is granting the License.
-
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-      direction or management of such entity, whether by contract or
-      otherwise, or (ii) ownership of fifty percent (50%) or more of the
-      outstanding shares, or (iii) beneficial ownership of such entity.
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-      "You" (or "Your") shall mean an individual or Legal Entity
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-      the conditions stated in this License.
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-   5. Submission of Contributions. Unless You explicitly state otherwise,
-      any Contribution intentionally submitted for inclusion in the Work
-      by You to the Licensor shall be under the terms and conditions of
-      this License, without any additional terms or conditions.
-      Notwithstanding the above, nothing herein shall supersede or modify
-      the terms of any separate license agreement you may have executed
-      with Licensor regarding such Contributions.
-
-   6. Trademarks. This License does not grant permission to use the trade
-      names, trademarks, service marks, or product names of the Licensor,
-      except as required for reasonable and customary use in describing the
-      origin of the Work and reproducing the content of the NOTICE file.
-
-   7. Disclaimer of Warranty. Unless required by applicable law or
-      agreed to in writing, Licensor provides the Work (and each
-      Contributor provides its Contributions) on an "AS IS" BASIS,
-      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-      implied, including, without limitation, any warranties or conditions
-      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-      PARTICULAR PURPOSE. You are solely responsible for determining the
-      appropriateness of using or redistributing the Work and assume any
-      risks associated with Your exercise of permissions under this License.
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-   8. Limitation of Liability. In no event and under no legal theory,
-      whether in tort (including negligence), contract, or otherwise,
-      unless required by applicable law (such as deliberate and grossly
-      negligent acts) or agreed to in writing, shall any Contributor be
-      liable to You for damages, including any direct, indirect, special,
-      incidental, or consequential damages of any character arising as a
-      result of this License or out of the use or inability to use the
-      Work (including but not limited to damages for loss of goodwill,
-      work stoppage, computer failure or malfunction, or any and all
-      other commercial damages or losses), even if such Contributor
-      has been advised of the possibility of such damages.
-
-   9. Accepting Warranty or Additional Liability. While redistributing
-      the Work or Derivative Works thereof, You may choose to offer,
-      and charge a fee for, acceptance of support, warranty, indemnity,
-      or other liability obligations and/or rights consistent with this
-      License. However, in accepting such obligations, You may act only
-      on Your own behalf and on Your sole responsibility, not on behalf
-      of any other Contributor, and only if You agree to indemnify,
-      defend, and hold each Contributor harmless for any liability
-      incurred by, or claims asserted against, such Contributor by reason
-      of your accepting any such warranty or additional liability.
-
-   END OF TERMS AND CONDITIONS
-
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "{}"
-      replaced with your own identifying information. (Don't include
-      the brackets!)  The text should be enclosed in the appropriate
-      comment syntax for the file format. We also recommend that a
-      file or class name and description of purpose be included on the
-      same "printed page" as the copyright notice for easier
-      identification within third-party archives.
-
-   Copyright 2019 Accerion
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
-
-       http://www.apache.org/licenses/LICENSE-2.0
-
-   Unless required by applicable law or agreed to in writing, software
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-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.

accerionsdk/cov.txt

@@ -1 +0,0 @@
-100

accerionsdk/coverage.py

@@ -1,218 +0,0 @@
-#!/usr/bin/env python
-# -*- mode: python; coding: utf-8 -*-
-
-# All files in doxy-coverage are Copyright 2014 Alvaro Lopez Ortega.
-#
-#   Authors:
-#     * Alvaro Lopez Ortega <alvaro@gnu.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#     * Redistributions of source code must retain the above copyright
-#       notice, this list of conditions and the following disclaimer.
-#
-#     * Redistributions in binary form must reproduce the above
-#       copyright notice, this list of conditions and the following
-#       disclaimer in the documentation and/or other materials provided
-#       with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-from __future__ import print_function
-
-__author__    = "Alvaro Lopez Ortega"
-__email__     = "alvaro@alobbs.com"
-__copyright__ = "Copyright (C) 2014 Alvaro Lopez Ortega"
-
-import os
-import sys
-import argparse
-import xml.etree.ElementTree as ET
-
-# Defaults
-ACCEPTABLE_COVERAGE = 80
-
-# Global
-ns = None
-cov = 0
-
-def ERROR(*objs):
-    print("ERROR: ", *objs, end='\n', file=sys.stderr)
-
-def FATAL(*objs):
-	ERROR (*objs)
-	sys.exit((1,0)[ns.noerror])
-
-def parse_file(fullpath):
-	tree = ET.parse(fullpath)
-
-	sourcefile  = None
-	definitions = {}
-
-	for definition in tree.findall("./compounddef//memberdef"):
-		# Should it be documented
-		if (definition.get('kind') == 'function' and
-			definition.get('static') == 'yes'):
-			continue
-
-		# Is the definition documented?
-		documented = False
-		for k in ('briefdescription', 'detaileddescription', 'inbodydescription'):
-			if definition.findall("./%s/"%(k)):
-				documented = True
-				break
-
-		# Name
-		d_def = definition.find('./definition')
-		d_nam = definition.find('./name')
-
-		if not sourcefile:
-			l = definition.find('./location')
-			if l is not None:
-				sourcefile = l.get('file')
-
-		if d_def is not None:
-			name = d_def.text
-		elif d_nam is not None:
-			name = d_nam.text
-		else:
-			name = definition.get('id')
-
-		# Aggregate
-		definitions[name] = documented
-
-	if not sourcefile:
-		sourcefile = fullpath
-
-	return (sourcefile, definitions)
-
-
-def parse(path):
-	index_fp = os.path.join (path, "index.xml")
-	if not os.path.exists (index_fp):
-		FATAL ("Documentation not present. Exiting.", index_fp)
-
-	tree = ET.parse(index_fp)
-
-	files = {}
-	for entry in tree.findall('compound'):
-		if entry.get('kind') in ('dir'):
-			continue
-
-		file_fp = os.path.join (path, "%s.xml" %(entry.get('refid')))
-		tmp = parse_file (file_fp)
-		files[tmp[0]] = tmp[1]
-
-	return files
-
-def get_cur():
-    file = open("cov.txt", "r")
-    current = file.readline()
-    try:
-    	current = int(current)
-    except ValueError:
-        current = int(0)
-    file.close()
-    return current
-
-def report (files, exclude_dirs):
-	def get_coverage (f):
-		defs = files[f]
-		if not defs:
-			return 100
-
-		doc_yes = len([d for d in defs.values() if d])
-		doc_no  = len([d for d in defs.values() if not d])
-		return (doc_yes * 100.0 / (doc_yes + doc_no))
-
-	def file_cmp (a,b):
-		return cmp(get_coverage(a), get_coverage(b))
-
-	files_sorted = files.keys()
-	files_sorted.sort(file_cmp)
-	files_sorted.reverse()
-
-	total_yes = 0
-	total_no  = 0
-
-	for f in files_sorted:
-		skip = False
-		for exclude_dir in exclude_dirs:
-			if exclude_dir in f:
-				skip = True
-				break
-		if skip:
-			continue
-
-		defs = files[f]
-		if not defs:
-			continue
-
-		doc_yes = len([d for d in defs.values() if d])
-		doc_no  = len([d for d in defs.values() if not d])
-		doc_per = doc_yes * 100.0 / (doc_yes + doc_no)
-
-		total_yes += doc_yes
-		total_no  += doc_no
-
-		print ('%3d%% - %s - (%d of %d)'%(doc_per, f, doc_yes, (doc_yes + doc_no)))
-
-		defs_sorted = defs.keys()
-		defs_sorted.sort()
-		for d in defs_sorted:
-			if not defs[d]:
-				print ("\t", d)
-
-	total_all = total_yes + total_no
-	total_per = total_yes * 100 / total_all
-	print()
-	print("%d%% API documentation coverage" % (total_per))
-	current = get_cur()
-	print("%d%% previously known coverage" % (current))
-	returnvalue = (ns.threshold - total_per, 0)[total_per > ns.threshold]
-	if current == '' or current <= total_per:
-		file = open("cov.txt", "w")
-		file.write('%d' % total_per)
-		returnvalue = 0
-	return returnvalue
-
-def main():
-	# Arguments
-	parser = argparse.ArgumentParser()
-	parser.add_argument ("dir",         action="store",      help="Path to Doxygen's XML doc directory")
-	parser.add_argument ("--noerror",   action="store_true", help="Do not return error code after execution")
-	parser.add_argument ("--threshold", action="store",      help="Min acceptable coverage percentage (Default: %s)"%(ACCEPTABLE_COVERAGE), default=ACCEPTABLE_COVERAGE, type=int)
-	parser.add_argument("--excludedirs", nargs='+', help="List of directories to be excluded from coverage analysis", type=str, default=[])
-
-
-	global ns
-	ns = parser.parse_args()
-	if not ns:
-		FATAL ("ERROR: Couldn't parse parameters")
-
-	# Parse
-	files = parse (ns.dir)
-
-	# Print report
-	err = report (files, ns.excludedirs)
-	if ns.noerror:
-		return
-
-	sys.exit(err)
-
-
-if __name__ == "__main__":
-	main()
- 

accerionsdk/tools/python/sdk/arams/versions/_file_specifications_v616.py

@@ -1,62 +0,0 @@
-#!/usr/bin/env python3
-"""
- Copyright (c) 2024, Accerion (Unconstrained Robotics B.V.)
- * All rights reserved.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this
- * file, You can obtain one at https://mozilla.org/MPL/2.0/.
-"""
-
-from enum import Enum
-from sdk.arams.versions.file_specifications_v61 import ARAMS_INDEX, ARAMS_TIME, FMC, LRT, LSD
-
-
-# Log drift corrections .csv file column headers used
-class LDC(Enum):
-    INDEX = ARAMS_INDEX
-    TIME = ARAMS_TIME
-
-    NEW_XPOS = "sensor_pos_x[m]"
-    NEW_YPOS = "sensor_pos_y[m]"
-    NEW_THETA = "sensor_pos_theta[deg]"
-    ERROR_X = "error_x[m]"
-    ERROR_Y = "error_y[m]"
-    ERROR_THETA = "error_theta[deg]"
-    CUMU_DIST = "cumulative_distance[m]"
-    CUMU_YAW = "cumulative_yaw[deg]"
-    ERROR_PERC = "error_percentage[%]"
-    CLUSTER_ID = "cluster_id"
-    SIGNATURE_ID = "signature_id"
-
-
-    @staticmethod
-    def CanParse(file_name: str):
-        if file_name.startswith("logDriftCorrections.") and file_name.endswith(".csv"):
-            return True
-        return False
-
-class LER(Enum):
-    TIME = ARAMS_TIME
-
-    TIME_OFFSET = "time_offset(s)"
-    INPUT_POS_X = "input_pos_x[m]"
-    INPUT_POS_Y = "input_pos_y[m]"
-    INPUT_POS_THETA = "input_pos_theta[deg]"
-    RAW_OUTPUT_VEL_X  = "raw_output_vel_x[m/s]"
-    RAW_OUTPUT_VEL_Y  = "raw_output_vel_y[m/s]"
-    RAW_OUTPUT_VEL_TH = "raw_output_vel_theta[deg/s]"
-    STD_DEV_POS_X = "std_dev_pos_x[m]"
-    STD_DEV_POS_Y = "std_dev_pos_y[m]"
-    STD_DEV_POS_THETA = "std_dev_pos_theta[deg]"
-
-    @staticmethod
-    def CanParse(file_name: str):
-        if file_name.startswith("logExtRefInputFast") and file_name.endswith(".csv"):
-            return True
-        return False
-
-
-# List of supported ARAMS files
-FILES_SUPPORTED = [FMC, LRT, LDC, LER, LSD]
-