Merge pull request #197 from USU-Robosub/feature/slam_kyler

Added data structures and basic project setup. ...As well as some other things...

.gitignore

@@ -1,26 +1,220 @@
-###Git Ignore Filetypes###
+Release/
+Debug/
+Build/
+Drivers/
+googletest/
+TestFootage
+
 
-# JetBrains
-.idea/
 
-#compiled source#
-#################
+
+# Created by https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node
+
+### C++ ###
+# Prerequisites
+*.d
+*.cbp
+
+# Compiled Object files
+*.slo
+*.lo
 *.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
 *.so
+*.dylib
+*.dll
 
-Release/
-Debug/
-Build/
+# Fortran module files
+*.mod
+*.smod
 
-#cmake-generated files#
-.cmake
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
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+
+### CMake ###
 CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake-build-*
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+
+### JetBrains ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
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+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+### JetBrains Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
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+# KDE directory preferences
+.directory
 
-# NPM
+# Linux trash folder which might appear on any partition or disk
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+.nfs*
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+### macOS ###
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+# Icon must end with two \r
+Icon
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+
+# Thumbnails
+._*
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+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
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+.TemporaryItems
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+.com.apple.timemachine.donotpresent
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+# Directories potentially created on remote AFP share
+.AppleDB
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+Temporary Items
+.apdisk
+
+### Node ###
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
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+
+# Runtime data
+pids
+*.pid
+*.seed
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+
+# Directory for instrumented libs generated by jscoverage/JSCover
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+
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+coverage
+
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+.nyc_output
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+.grunt
+
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+.lock-wscript
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+build/Release
+
+# Dependency directories
 node_modules/
+jspm_packages/
 
-# Submodules
-Drivers/
-googletest/
+# Typescript v1 declaration files
+typings/
 
-TestFootage
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+.npm
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+.env
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+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
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+# Windows shortcuts
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+# End of https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node

SLAM/.gitignore

@@ -0,0 +1,2 @@
+slam_tests
+libslam.a

SLAM/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.9)
+project(SLAM)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -pedantic") # -Werror
+
+file(GLOB_RECURSE HEADER_FILES "include/*.h" "include/*.hpp")
+file(GLOB_RECURSE SOURCE_FILES "src/*.cpp" "src/*.hpp" "src/*.h")
+file(GLOB_RECURSE TEST_SOURCE_FILES "test/*.cpp" "test/*.hpp" "test/*.h")
+
+add_library(slam STATIC ${HEADER_FILES} ${SOURCE_FILES})
+add_executable(slam_tests ${HEADER_FILES} ${SOURCE_FILES} ${TEST_SOURCE_FILES})

SLAM/README.md

@@ -1 +1,43 @@
-Use `src` and `include` folders for code.
+
+# SLAM
+Simultaneous Location and Mapping for the USU Autonomous RoboSub.
+
+---
+
+## Contributing
+
+Use `src` and `include` folders for code.
+
+### Namespace `slam`
+
+Please place everything in `namespace slam`. For example:
+
+```c++
+namespace slam {
+    class MyClass {...}
+    struct MyStruct {...}
+    void doSomething() {...}
+}
+```
+
+### Tests
+
+Use `test` folder for writing unit tests. Every concrete class should have
+a set of associated unit tests.
+
+### How to build
+```bash
+mkdir out
+cd out
+cmake ..
+make slam # <-- libslam.a is created
+```
+
+### How to run tests
+```bash
+mkdir out
+cd out
+cmake ..
+make slam_tests # <-- slam_tests is created
+./slam_tests
+```

SLAM/include/CameraFrame.h

@@ -0,0 +1,25 @@
+//
+// Created by Kyler Jensen on 2/15/17.
+//
+
+#ifndef SLAM_CAMERAFRAME_H
+#define SLAM_CAMERAFRAME_H
+
+#include "_tmp.h"
+#include "RGBColor.h"
+#include <vector>
+
+namespace slam {
+
+    struct CameraFrame {
+
+        const Chrono timestamp;
+        const std::vector<std::vector<RGBColor>> data;
+
+    };
+
+}
+
+
+
+#endif //SLAM_CAMERAFRAME_H

SLAM/include/DepthMap.h

@@ -0,0 +1,16 @@
+//
+// Created by Kyler Jensen on 2/15/17.
+//
+
+#ifndef SLAM_DEPTHMAP_H
+#define SLAM_DEPTHMAP_H
+
+namespace slam {
+
+    struct DepthMap {
+        //TODO
+    };
+
+}
+
+#endif //SLAM_DEPTHMAP_H

SLAM/include/Pose.h

@@ -0,0 +1,17 @@
+//
+// Created by Kyler Jensen on 2/15/17.
+//
+
+#ifndef SLAM_POSE_H
+#define SLAM_POSE_H
+
+namespace slam {
+
+    struct Pose {
+        //TODO
+    };
+
+}
+
+
+#endif //SLAM_POSE_H

SLAM/include/RGBColor.h

@@ -0,0 +1,23 @@
+//
+// Created by Kyler Jensen on 2/22/17.
+//
+
+#ifndef SLAM_RGBCOLOR_H
+#define SLAM_RGBCOLOR_H
+
+#include <cstdint>
+
+namespace slam {
+
+    struct RGBColor {
+
+        const uint8_t red;
+        const uint8_t green;
+        const uint8_t blue;
+        const uint8_t gray;
+
+    };
+
+}
+
+#endif //SLAM_RGBCOLOR_H