Added python bindings

.github/workflows/build_wheels.yml

@@ -35,7 +35,7 @@ jobs:
 
       - name: Build wheel
         run: |
-          python -m build
+          python -m build --wheel
           git status
   
       - uses: actions/upload-artifact@v2

CMakeLists.txt

@@ -10,6 +10,10 @@ set(CMAKE_CXX_STANDARD 17)
 
 option(USE_ASAN "Use address sanitizer" OFF)
 
+if(NOT PYTHON_EXECUTABLE)
+  find_package (Python 3.8 COMPONENTS Interpreter Development REQUIRED)
+endif()
+
 if(UNIX)
   add_compile_options(-fPIC -Wall -Wno-unused-variable -Wno-switch -Wno-parentheses -Wno-missing-braces -Werror=return-type -fvisibility=hidden -Werror=vla -fno-math-errno -Werror=pointer-arith)
   SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${SHARED_FLAGS} -std=gnu99 -Werror=incompatible-pointer-types -Werror=implicit-function-declaration -Werror=missing-field-initializers ")

include/cnkalman/model.h

@@ -15,8 +15,24 @@ namespace cnkalman {
         cnkalman_meas_model meas_mdl = {};
 
         KalmanMeasurementModel(KalmanModel* kalmanModel, const std::string& name, size_t meas_cnt);
+        KalmanMeasurementModel(KalmanModel* kalmanModel, size_t meas_cnt) : KalmanMeasurementModel(kalmanModel, "meas", meas_cnt) {}
         virtual ~KalmanMeasurementModel() = default;
+
+        /***
+         * @param x current state
+         * @param z measurement prediction
+         * @param h measurement jacobian wrt x
+         * @return Whether the residual / jacobian is valid
+         */
         virtual bool predict_measurement(const CnMat& x, CnMat* z, CnMat* h) = 0;
+
+        /***
+         * @param Z observed measurement
+         * @param x current state
+         * @param z measurement prediction
+         * @param h measurement jacobian wrt x
+         * @return Whether the residual / jacobian is valid
+         */
         virtual bool residual(const CnMat& Z, const CnMat& x, CnMat* y, CnMat* h);
 
         cnkalman_update_extended_stats_t update(FLT t, const struct CnMat& Z, CnMat& R);
@@ -47,6 +63,7 @@ namespace cnkalman {
         virtual std::ostream& write(std::ostream&) const;
 
         KalmanModel(const std::string& name, size_t state_cnt);
+        KalmanModel(size_t state_cnt) : KalmanModel("mdl", state_cnt) {}
         virtual void reset();
         virtual ~KalmanModel();
 
@@ -68,13 +85,15 @@ namespace cnkalman {
     struct CN_EXPORT_CLASS KalmanLinearPredictionModel : public KalmanModel {
         virtual const CnMat& F() const = 0;
         KalmanLinearPredictionModel(const std::string &name, size_t stateCnt);
+        KalmanLinearPredictionModel(size_t stateCnt) : KalmanLinearPredictionModel("mdl", stateCnt) {}
         void predict(FLT dt, const CnMat& x0, CnMat* x1, CnMat* cF) override;
     };
 
     struct CN_EXPORT_CLASS KalmanLinearMeasurementModel : public KalmanMeasurementModel {
         CnMat H;
 
         KalmanLinearMeasurementModel(KalmanModel* kalmanModel, const std::string& name, const CnMat& H);
+        KalmanLinearMeasurementModel(KalmanModel* kalmanModel, const CnMat& H) : KalmanLinearMeasurementModel(kalmanModel, "meas", H) {}
         ~KalmanLinearMeasurementModel() override;
         bool predict_measurement(const CnMat &x, CnMat *z, CnMat *h) override;
     };

setup.py

@@ -0,0 +1,73 @@
+import glob
+import os
+import pathlib
+import shutil
+import sys
+
+from setuptools import setup, Extension
+from setuptools.command.build_ext import build_ext as build_ext_orig
+
+cmake_path = os.environ.get('CMAKE_PATH', "cmake")
+class CMakeExtension(Extension):
+
+    def __init__(self, name):
+        # don't invoke the original build_ext for this special extension
+        super().__init__(name, sources=[])
+
+
+class build_ext(build_ext_orig):
+
+    def run(self):
+        for ext in self.extensions:
+            self.build_cmake(ext)
+        super().run()
+
+    def build_cmake(self, ext):
+        cwd = pathlib.Path().absolute()
+
+        # these dirs will be created in build_py, so if you don't have
+        # any python sources to bundle, the dirs will be missing
+        build_temp = pathlib.Path(self.build_temp)
+        build_temp.mkdir(parents=True, exist_ok=True)
+        extdir = pathlib.Path(self.get_ext_fullpath(ext.name))
+        extdir.mkdir(parents=True, exist_ok=True)
+
+        config = 'Release'
+        cmake_args = [
+            '-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + str(extdir.parent.absolute()),
+            '-DCMAKE_BUILD_TYPE=' + config,
+            '-DCMAKE_INSTALL_PREFIX=' + str(build_temp.absolute()),
+            '-DPYTHON_EXECUTABLE=' + sys.executable
+        ]
+
+        # example of build args
+        build_args = [
+            '--config', config,
+            '--', '-j4'
+        ]
+
+        build_temp_dir = str(build_temp.absolute())
+        ext_dir_parent = str(extdir.parent.absolute())
+        os.chdir(str(build_temp.absolute()))
+        self.spawn([cmake_path, str(cwd)] + cmake_args)
+        if not self.dry_run:
+            self.spawn([cmake_path, '--build', '.', '--target', 'install'] + build_args)
+            print(build_temp_dir + "/lib/*.so")
+            for file in glob.glob(build_temp_dir + "/lib/*.so"):
+                print(file)
+                shutil.copy(file, ext_dir_parent + "/cnkalman")
+
+        # Troubleshooting: if fail on line above then delete all possible
+        # temporary CMake files including "CMakeCache.txt" in top level dir.
+        os.chdir(str(cwd))
+
+
+setup(
+    name='cnkalman',
+    packages=['cnkalman'],
+    ext_modules=[CMakeExtension('.')],
+    cmdclass={
+        'build_ext': build_ext,
+    },
+    setup_requires=["setuptools-git-versioning"],
+)

src/CMakeLists.txt

@@ -9,3 +9,10 @@ target_include_directories(cnkalman PUBLIC
 target_link_libraries(cnkalman cnmatrix)
 
 install(TARGETS cnkalman DESTINATION lib)
+
+find_package(pybind11)
+if(pybind11_FOUND)
+    pybind11_add_module(filter cnkalman_python_bindings.cpp)
+    target_link_libraries(filter PUBLIC cnkalman)
+    install(TARGETS filter DESTINATION lib)
+endif()