MoveG

A modern C++ library for 3D rotations, poses, and trajectories with comprehensive tooling. MoveG is designed for robotics and computer vision applications, providing a robust foundation for spatial transformations with strong type safety and error checking.

Features

• Robust 3D transformation handling (quaternions, rotation matrices, Euler angles)
• Coordinate frame transformations with error checking
• Modern C++20 implementation
• Comprehensive unit tests with Catch2
• Automated code quality checks
• Memory safety with sanitizers
• High-performance optimizations (LTO, parallel builds)

Key Components

Rotation Library

Provides representation and operations for 3D rotations using quaternions, rotation matrices, Euler angles, and axis-angle representations. Supports conversion between formats, composition of rotations, and angular velocity transformations.

Pose Library

Builds on the rotation library to represent 6-DOF poses (position and orientation). Supports transformation composition, inverse operations, and coordinate frame conversions with proper error handling.

Trajectory Library (Coming Soon)

Will provide capabilities for motion planning and trajectory generation.

Development Tools

• CPM: Package manager for dependency handling
• Catch2: Unit testing framework
• fmt: Modern string formatting library
• Eigen: Linear algebra library
• Clang Tools: Format and static analysis
• Sanitizers: Address, undefined behavior, and leak detection
• Doxygen: Documentation generation
• pre-commit: Git hooks for code quality checks

Build Commands

# Clone the repository with submodules
git clone --recursive https://github.com/GiorgioMedico/MoveG.git
cd MoveG
 
# Create build directory
mkdir build && cd build
 
# Configure and build (Release mode)
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . --config Release
 
# Run the main executable
cd app
./main
 
# Run all tests
cd ..
ctest -C Release
 
# Generate documentation
cmake --build . --target docs
 
# Run code coverage analysis
cmake -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=On ..
cmake --build . --target coverage
 
# Code formatting
cmake --build . --target run_clang_format
cmake --build . --target run_cmake_format

CMake Options

• -DENABLE_TESTING=ON/OFF: Enable/disable unit tests (default: ON)
• -DENABLE_COVERAGE=ON/OFF: Enable code coverage analysis (default: ON)
• -DENABLE_CLANG_TIDY=ON/OFF: Enable static analysis (default: ON)
• -DENABLE_SANITIZE_ADDR=ON/OFF: Enable address sanitizer (default: ON)
• -DENABLE_SANITIZE_UNDEF=ON/OFF: Enable undefined behavior sanitizer (default: ON)
• -DENABLE_SANITIZE_LEAK=ON/OFF: Enable memory leak sanitizer (default: ON)
• -DENABLE_LTO=ON/OFF: Enable link-time optimization (default: OFF, auto-ON for Release)
• -DENABLE_WARNINGS_AS_ERRORS=ON/OFF: Treat warnings as errors (default: OFF)
• -DUSE_CPM=ON/OFF: Use CPM for dependency management (default: ON)

IDE Integration

Visual Studio Code

This project includes optimized configuration for VS Code:

• Press Alt+S to delete CMake cache and reconfigure
• Use the "CMake: Build" task for building
• Use the "CMake: Run Tests" button for running tests
• Use built-in tasks for documentation and code coverage

Project Structure

• src/MoveG_Lib/ - Core library implementation
  • rotation_lib.{h,cpp} - 3D rotation management
  • pose_lib.{h,cpp} - Pose (position + orientation) handling
  • traj_lib.{h,cpp} - Trajectory planning (in development)
• app/ - Example applications
  • pose_example.cpp - Demonstration of pose library features
  • rotation_example.cpp - Demonstration of rotation library features
• tests/ - Unit tests with Catch2
  • test_Pose.cpp - Comprehensive tests for pose functionality
  • test_Rotation.cpp - Comprehensive tests for rotation functionality
• cmake/ - Build system modules
  • CodeCoverage.cmake - Code coverage configuration
  • Sanitizer.cmake - Memory and behavior sanitizers
  • LTO.cmake - Link-time optimization
• docs/ - Documentation
• tools/ - Development helper scripts

Dependencies

MoveG uses Eigen3 as its primary dependency for linear algebra and geometry operations. The required version is automatically installed via CPM during the build process.

Software Requirements

• CMake 3.21+
• C++20 compatible compiler (GCC 9+, Clang 9+, MSVC 2019+)
• Git (for cloning and development)
• Doxygen (for documentation generation)
• Python 3 (for helper scripts)

License

Apache License 2.0

Contributing

Contributions are welcome. Please format your code with clang-format and ensure all tests pass before submitting pull requests.