clothoid_fit: Add lane boundary clothoid fitting plugin

Author: tobifalk

conanfile.py

@@ -50,6 +50,7 @@ def cloe_requires(dep):
         cloe_requires("cloe-runtime")
         cloe_requires("cloe-models")
         cloe_requires("cloe-plugin-basic")
+        cloe_requires("cloe-plugin-clothoid-fit")
         cloe_requires("cloe-plugin-gndtruth-extractor")
         cloe_requires("cloe-plugin-minimator")
         cloe_requires("cloe-plugin-mocks")

plugins/clothoid_fit/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.7 FATAL_ERROR)
+
+project(cloe_plugin_clothoid_fit LANGUAGES CXX)
+
+include(${CMAKE_CURRENT_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup(TARGETS)
+
+add_library(g1-fitting-lib STATIC
+    src/g1_fitting.cpp
+)
+set_target_properties(g1-fitting-lib PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED ON
+    POSITION_INDEPENDENT_CODE ON
+)
+
+include(CloePluginSetup)
+cloe_add_plugin(
+    TARGET component_clothoid_fit
+    SOURCES
+        src/clothoid_fit.cpp
+    LINK_LIBRARIES
+        g1-fitting-lib
+        CONAN_PKG::eigen
+        CONAN_PKG::cloe-runtime
+        CONAN_PKG::cloe-models
+    COMPILE_DEFINITIONS
+        PROJECT_SOURCE_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}\"
+)
+
+option(BuildTests "Build tests?" ON)
+if(BuildTests)
+    message(STATUS "-> Enable testing")
+    enable_testing()
+    include(GoogleTest)
+
+    add_executable(test-clothoid-fit
+        src/g1_fitting_test.cpp
+        src/clothoid_test.cpp
+    )
+    set_target_properties(test-clothoid-fit PROPERTIES
+        CXX_STANDARD 14
+        CXX_STANDARD_REQUIRED ON
+    )
+    target_link_libraries(test-clothoid-fit
+      PRIVATE
+        g1-fitting-lib
+        CONAN_PKG::gtest
+        CONAN_PKG::eigen
+        CONAN_PKG::cloe-runtime
+        CONAN_PKG::cloe-models
+    )
+    gtest_add_tests(TARGET test-clothoid-fit)
+endif()

plugins/clothoid_fit/Makefile

@@ -0,0 +1 @@
+include ../../Makefile.package

plugins/clothoid_fit/conanfile.py

@@ -0,0 +1,70 @@
+from pathlib import Path
+from conans import ConanFile, CMake, RunEnvironment, tools
+
+
+class CloeComponentClothoidFit(ConanFile):
+    name = "cloe-plugin-clothoid-fit"
+    url = "https://github.com/eclipse/cloe"
+    description = "Cloe component plugin that generates clothoids from given lane boundary point lists."
+    license = "Apache-2.0"
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "test": [True, False],
+        "pedantic": [True, False],
+    }
+    default_options = {
+        "test": True,
+        "pedantic": True,
+    }
+    generators = "cmake"
+    no_copy_source = True
+    exports_sources = [
+        "src/*",
+        "CMakeLists.txt",
+    ]
+    requires = [
+        "eigen/[~=3.4.0]",
+    ]
+
+    _cmake = None
+
+    def set_version(self):
+        version_file = Path(self.recipe_folder) / "../../VERSION"
+        if version_file.exists():
+            self.version = tools.load(version_file).strip()
+        else:
+            git = tools.Git(folder=self.recipe_folder)
+            self.version = git.run("describe --dirty=-dirty")[1:]
+
+    def requirements(self):
+        self.requires(f"cloe-runtime/{self.version}@cloe/develop")
+        self.requires(f"cloe-models/{self.version}@cloe/develop")
+
+    def build_requirements(self):
+        if self.options.test:
+            self.build_requires("gtest/[~1.10]")
+
+    def _configure_cmake(self):
+        if self._cmake:
+            return self._cmake
+        self._cmake = CMake(self)
+        self._cmake.definitions["CMAKE_EXPORT_COMPILE_COMMANDS"] = True
+        self._cmake.definitions["BuildTests"] = self.options.test
+        self._cmake.definitions["TargetLintingExtended"] = self.options.pedantic
+        self._cmake.configure()
+        return self._cmake
+
+    def build(self):
+        cmake = self._configure_cmake()
+        cmake.build()
+        if self.options.test:
+            with tools.environment_append(RunEnvironment(self).vars):
+                cmake.test()
+
+    def package(self):
+        cmake = self._configure_cmake()
+        cmake.install()
+
+    def package_id(self):
+        del self.info.options.pedantic
+        del self.info.options.test

plugins/clothoid_fit/src/clothoid_fit.cpp

@@ -0,0 +1,43 @@
+/*
+ * Copyright 2023 Robert Bosch GmbH
+ *
+ * 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
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * 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.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file clothoid_fit.cpp
+ * \see  clothoid_fit.hpp
+ *
+ */
+
+#include "clothoid_fit.hpp"
+
+#include <cloe/component.hpp>              // for Component, Json
+#include <cloe/component/lane_sensor.hpp>  // for LaneBoundarySensor
+#include <cloe/plugin.hpp>                 // for EXPORT_CLOE_PLUGIN
+
+namespace cloe {
+
+namespace component {
+
+DEFINE_COMPONENT_FACTORY(ClothoidFitFactory, ClothoidFitConf, "clothoid_fit",
+                         "fit clothoids to polylines")
+
+DEFINE_COMPONENT_FACTORY_MAKE(ClothoidFitFactory, LaneBoundaryClothoidFit, LaneBoundarySensor)
+
+}  // namespace component
+}  // namespace cloe
+
+// Register factory as plugin entrypoint
+EXPORT_CLOE_PLUGIN(cloe::component::ClothoidFitFactory)