cibuildwheel integration

.dockerignore

@@ -0,0 +1 @@
+cmake-build-*

.github/workflows/build_wheels.yml

@@ -16,7 +16,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-18.04 ]
+        os: [ubuntu-20.04, windows-2019]
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
@@ -33,20 +33,19 @@ jobs:
       - name: Get Dependencies
         run: pip install twine build
 
-      - name: Build wheel
-        run: |
-          python -m build --wheel
-          git status
-  
-      - uses: actions/upload-artifact@v2
-        name: Upload
+      - name: Build wheels
+        uses: pypa/[email protected]
+        env:
+          CIBW_SKIP: "*-win32 *-manylinux_i686"
+
+      - uses: actions/upload-artifact@v3
         with:
-          path: ${{runner.workspace}}/cnkalman/dist/*.whl
+          path: ./wheelhouse/*.whl
 
       - name: Upload with twine
         run: |
           python -m pip install twine
-          python -m twine upload dist/*.whl --skip-existing
+          python -m twine upload wheelhouse/*.whl --skip-existing
         continue-on-error: true
         env:
           TWINE_USERNAME: __token__

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "libs/cnmatrix"]
 	path = libs/cnmatrix
 	url = ../cnmatrix.git
+[submodule "libs/pybind11"]
+	path = libs/pybind11
+	url = [email protected]:pybind/pybind11.git

CMakeLists.txt

@@ -33,6 +33,7 @@ else()
 endif()
 
 add_subdirectory(libs/cnmatrix)
+add_subdirectory(libs/pybind11)
 add_subdirectory(src)
 
 set(cnkalman_root_source_dir ${CMAKE_CURRENT_SOURCE_DIR} CACHE INTERNAL "")

src/CMakeLists.txt

@@ -10,9 +10,6 @@ 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()
+pybind11_add_module(filter cnkalman_python_bindings.cpp)
+target_link_libraries(filter PUBLIC cnkalman)
+install(TARGETS filter DESTINATION lib)

tests/benchmark.py

@@ -111,14 +111,14 @@ def run_model(kp, f):
                 (f.x[0], f.x[1]), cov=f.P[0:2, 0:2],
                 std=1, facecolor='g', alpha=0.8)
 
-
+    Xs = np.array(Xs)
     err = np.linalg.norm(Xf - Xs.reshape(Xf.shape)) / Xf.shape[0]
     print(err, math.sqrt(pError) / Xf.shape[0])
 
     has_error = math.sqrt(pError) / Xf.shape[0] > 1e-3 or err > 1e-3
 
 
-    return np.array(Xs)
+    return Xs
 
 f = create_filter(model)
 Xs = run_model(kp, f)

tests/models/BearingsOnlyTracking.py

@@ -27,5 +27,5 @@ def residual(a, b):
             return y
 
         EKF.update(self, z,
-                   HJacobian=lambda x: bearings_meas_function.jacobian_of_state(x.reshape(-1), self.landmarks[idx]), residual=residual,
+                   HJacobian=lambda x: bearings_meas_function.jacobians.state(x.reshape(-1), self.landmarks[idx]), residual=residual,
                    Hx=lambda x: np.array(bearings_meas_function(x.reshape(-1), self.landmarks[idx]), dtype=np.float64).reshape(-1, 1), R=R)

tests/models/EggLandscape.py

@@ -37,5 +37,5 @@ def __init__(self):
 
     def update(self, z, R):
         EKF.update(self, z,
-                   HJacobian=lambda x: predict_meas.jacobian_of_x(x.reshape(-1)),
+                   HJacobian=lambda x: predict_meas.jacobians.x(x.reshape(-1)),
                    Hx=lambda x: np.array(predict_meas(x.reshape(-1)), dtype=np.float64).reshape(-1, 1), R=R)

tests/models/RobotEKF.py

@@ -92,7 +92,7 @@ def Hx(x, landmark_pos):
             return BikeLandmarks.meas_function(x.reshape(-1), landmark_pos).reshape(-1,1)
 
         def H_of(x, landmark_pos):
-            return BikeLandmarks.meas_function.jacobian_of_state(x.reshape(-1), landmark_pos)
+            return BikeLandmarks.meas_function.jacobians.state(x.reshape(-1), landmark_pos)
         landmark = self.landmarks[landmark_idx]
 
         EKF.update(self, z, HJacobian=H_of, Hx=Hx, R=R,