Add projections and tests!

.cpplint.cfg

@@ -11,6 +11,9 @@ filter=-build/c++17
 # Per our style guide, we want to allow the use of non-const reference passing for output parameters
 filter=-runtime/references
 
+# Catch2 idiom is `CHECK(a == b)` with expression decomposition; CHECK_EQ is a gtest macro and not applicable here
+filter=-readability/check
+
 # Disable all formatting checks, this is handled by clang-format
 filter=-readability/braces
 filter=-whitespace/braces

.gitignore

@@ -1,4 +1,15 @@
-# Colcon
+# Colcon (when built from the workspace root, build/ lives there)
 /build/
 /install/
 /log/
+
+# Python / uv
+.venv/
+__pycache__/
+*.py[cod]
+*.egg-info/
+.pytest_cache/
+.ruff_cache/
+
+# Build artifacts from CMake direct invocation
+*.so

CMakeLists.txt

@@ -1,4 +1,6 @@
 # Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
+# Proprietary. Any unauthorized copying, distribution, or modification of this software is strictly prohibited.
+# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,15 +14,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.15)
 project(polymath_kinematics)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_link_options(-Wl,-no-undefined)
 endif()
 
 # Ubuntu detection (override with -DBUILD_JAMMY=ON/OFF)
@@ -43,58 +44,63 @@ if(NOT DEFINED BUILD_JAMMY)
   endif()
 endif()
 
-# Find packages
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
+# Find packages. ament_cmake is QUIET so the wheel build (no ROS2) falls
+# through to a plain CMake configuration.
+find_package(ament_cmake QUIET)
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
-find_package(pybind11_vendor REQUIRED)
-find_package(pybind11 REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
 
-# C++ library with all kinematic models
-add_library(polymath_kinematics SHARED
+# C++ library with all kinematic models. SHARED under ROS2 (ament exports a
+# linkable .so to downstream packages); STATIC under wheel builds so the
+# pybind11 module is self-contained and the wheel ships a single .so.
+if(ament_cmake_FOUND)
+  set(_polymath_kinematics_lib_type SHARED)
+else()
+  set(_polymath_kinematics_lib_type STATIC)
+endif()
+add_library(polymath_kinematics ${_polymath_kinematics_lib_type}
   src/articulated_model.cpp
-  src/differential_drive_model.cpp
+  src/articulated_projector.cpp
   src/bicycle_model.cpp
+  src/bicycle_projector.cpp
+  src/differential_drive_model.cpp
+  src/differential_drive_projector.cpp
 )
 target_include_directories(polymath_kinematics PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
+set_target_properties(polymath_kinematics PROPERTIES POSITION_INDEPENDENT_CODE ON)
 
 # Python bindings
-set(PYBIND_TARGET polymath_kinematics_cpp)
-pybind11_add_module(${PYBIND_TARGET}
-  src/kinematics_pybind.cpp
-)
-set_target_properties(${PYBIND_TARGET} PROPERTIES LINK_OPTIONS "")
-target_link_libraries(${PYBIND_TARGET} PRIVATE polymath_kinematics)
-_ament_cmake_python_register_environment_hook()
-install(TARGETS ${PYBIND_TARGET} DESTINATION "${PYTHON_INSTALL_DIR}")
+pybind11_add_module(polymath_kinematics_cpp src/kinematics_pybind.cpp)
+target_link_libraries(polymath_kinematics_cpp PRIVATE polymath_kinematics)
 
-# Install C++ library
-install(
-  TARGETS polymath_kinematics
-  EXPORT ${PROJECT_NAME}_TARGETS
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-install(
-  EXPORT ${PROJECT_NAME}_TARGETS
-  NAMESPACE ${PROJECT_NAME}::
-  DESTINATION share/${PROJECT_NAME}/cmake
-)
-install(
-  DIRECTORY include/
-  DESTINATION include/
-)
+if(ament_cmake_FOUND)
+  find_package(ament_cmake_python REQUIRED)
 
-# Python module
-ament_python_install_package(${PROJECT_NAME})
+  install(
+    TARGETS polymath_kinematics
+    EXPORT ${PROJECT_NAME}_TARGETS
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+  )
+  install(
+    EXPORT ${PROJECT_NAME}_TARGETS
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION share/${PROJECT_NAME}/cmake
+  )
+  install(DIRECTORY include/ DESTINATION include/)
+
+  ament_python_install_package(${PROJECT_NAME})
+  install(TARGETS polymath_kinematics_cpp DESTINATION "${PYTHON_INSTALL_DIR}")
+else()
+  # Wheel build: scikit-build-core installs the extension at the wheel root.
+  install(TARGETS polymath_kinematics_cpp DESTINATION .)
+endif()
 
-# Testing
 if(BUILD_TESTING)
-  find_package(ament_cmake_pytest REQUIRED)
   include(CTest)
 
   if(BUILD_JAMMY)
@@ -115,15 +121,27 @@ if(BUILD_TESTING)
     endif()
   endfunction()
 
-  add_kinematics_catch2_test(test_differential_drive test/test_differential_drive.cpp)
   add_kinematics_catch2_test(test_bicycle_model test/test_bicycle_model.cpp)
   add_kinematics_catch2_test(test_articulated_model test/test_articulated_model.cpp)
-  ament_add_pytest_test(test_python_bindings test)
-endif()
+  add_kinematics_catch2_test(test_differential_drive test/test_differential_drive.cpp)
+  add_kinematics_catch2_test(test_bicycle_projector test/test_bicycle_projector.cpp)
+  add_kinematics_catch2_test(test_articulated_projector test/test_articulated_projector.cpp)
+  add_kinematics_catch2_test(test_differential_drive_projector test/test_differential_drive_projector.cpp)
 
-# Export targets
-ament_export_targets(${PROJECT_NAME}_TARGETS HAS_LIBRARY_TARGET)
-ament_export_include_directories(include)
-ament_export_libraries(polymath_kinematics)
+  if(ament_cmake_FOUND)
+    find_package(ament_cmake_pytest REQUIRED)
+    ament_add_pytest_test(test_python_bindings test/test_python_bindings.py
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+    ament_add_pytest_test(test_explorer test/test_explorer.py
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+  endif()
+endif()
 
-ament_package()
+if(ament_cmake_FOUND)
+  ament_export_targets(${PROJECT_NAME}_TARGETS HAS_LIBRARY_TARGET)
+  ament_export_include_directories(include)
+  ament_export_libraries(polymath_kinematics)
+  ament_package()
+endif()