[cmake] expand support (#142)

.github/workflows/verify_test_ubuntu-22-04_clang.yml

@@ -16,9 +16,6 @@ jobs:
       run: |
         export CC=clang
         export CXX=clang++
-        mkdir build
-        cd build
-        cmake ..
-        cmake --build . --parallel
-        ctest --tests-regex kalman --output-on-failure --parallel
-        sudo cmake --install .
+        cmake -B "build" .
+        cmake --build "build" --parallel
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel

.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml

@@ -18,9 +18,6 @@ jobs:
         sudo dpkg -i gcc-latest.deb
         export CC=/opt/gcc-latest/bin/gcc
         export CXX=/opt/gcc-latest/bin/g++
-        mkdir build
-        cd build
-        cmake ..
-        cmake --build . --parallel
-        ctest --tests-regex kalman --output-on-failure --parallel
-        sudo cmake --install .
+        cmake -B "build" .
+        cmake --build "build" --parallel
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel

.github/workflows/verify_test_ubuntu-22-04_gcc.yml

@@ -14,9 +14,6 @@ jobs:
       uses: actions/checkout@v3.0.2
     - name: Build
       run: |
-        mkdir build
-        cd build
-        cmake ..
-        cmake --build . --parallel
-        ctest --tests-regex kalman --output-on-failure --parallel
-        sudo cmake --install .
+        cmake -B "build" .
+        cmake --build "build" --parallel
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel

.github/workflows/verify_test_windows-2019_msvc.yml

@@ -16,9 +16,8 @@ jobs:
       uses: ilammy/msvc-dev-cmd@v1.10.0
     - name: Version
       run: cl
-    - name: Install Eigen
-      run: vcpkg install eigen3
     - name: Build
-      run: cl /EHsc /std:c++latest /I include /I C:\vcpkg\packages\eigen3_x86-windows\include\eigen3 /TP sample/*.cpp source/*.cpp test/*.cpp /Fe:kalman.exe
-    - name: Run
-      run: ./kalman.exe
+      run: |
+        cmake -B "build" .
+        cmake --build "build" --parallel
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel

CMakeLists.txt

@@ -57,8 +57,8 @@ FetchContent_Declare(
 
 FetchContent_Declare(
   google_benchmark
-  URL "https://github.com/google/benchmark/archive/refs/tags/v1.7.0.tar.gz"
-  URL_HASH MD5=a259f985e7f8e4f5d2286a592eabd7e9)
+  URL "https://github.com/google/benchmark/archive/refs/tags/v1.6.2.tar.gz"
+  URL_HASH MD5=14d14849e075af116143a161bc3b927b)
 
 FetchContent_Declare(
   eigen
@@ -72,10 +72,9 @@ FetchContent_Declare(
 
 FetchContent_MakeAvailable(google_test google_benchmark eigen fmt)
 
+add_subdirectory(benchmark)
 add_subdirectory(include)
 add_subdirectory(sample)
 add_subdirectory(source)
 add_subdirectory(support)
 add_subdirectory(test)
-
-install(DIRECTORY "include/fcarouge" DESTINATION "include")

INSTALL.md

@@ -1,13 +1,29 @@
 # Installation
 
-## System
+## System Library
 
-Clone the repository, in a build folder configure CMake and install:
+Install and use the library in your projects by cloning the repository, configuring, and installing the project on all platforms:
 
 ```shell
-git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git kalman
-mkdir kalman/build
-cd kalman/build
-cmake ..
-sudo cmake --install .
+git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman"
+cmake -S "kalman" -B "build"
+cmake --build "build" --parallel
+sudo cmake --install "build"
 ```
+
+# Build & Run
+
+## Tests & Samples
+
+Build and run the tests and samples on all platforms:
+
+```shell
+git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman"
+cmake -S "kalman" -B "build" -G "Ninja Multi-Config"
+cmake --build "build" --config "Debug" --parallel
+ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+```
+
+## Benchmarks
+
+See the [Benchmark](benchmark/) section.

README.md

@@ -286,11 +286,10 @@ std::print("{}", k);
 # Installation
 
 ```shell
-git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git kalman
-mkdir kalman/build
-cd kalman/build
-cmake ..
-sudo cmake --install .
+git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman"
+cmake -S "kalman" -B "build"
+cmake --build "build" --parallel
+sudo cmake --install "build"
 ```
 
 [For more, see installation instructions](INSTALL.md).

benchmark/CMakeLists.txt

@@ -0,0 +1,50 @@
+#[[ __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter for C++
+Version 0.1.0
+https://github.com/FrancoisCarouge/Kalman
+
+SPDX-License-Identifier: Unlicense
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+For more information, please refer to <https://unlicense.org> ]]
+
+set(SOURCES "baseline.cpp" "predict1x1x0.cpp" "predict1x1x1.cpp"
+            "update1x1x0.cpp" "update1x1x1.cpp")
+
+foreach(BENCHMARK ${SOURCES})
+  get_filename_component(NAME ${BENCHMARK} NAME_WE)
+  add_executable(kalman_benchmark_${NAME}_driver ${BENCHMARK})
+  target_link_libraries(
+    kalman_benchmark_${NAME}_driver
+    PRIVATE eigen kalman benchmark::benchmark_main benchmark::benchmark)
+  add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
+           "--benchmark_out=kalman_benchmark_${NAME}.json")
+endforeach()

benchmark/README.md

@@ -1,12 +1,29 @@
-# Benchmark Results
-
-![Float](float.svg)
-![Float 1x1x0](float1x1x0.svg)
-![Float 1x1x1](float1x1x1.svg)
-![Baseline](baseline.svg)
-![Update Float 1x1x0](update1x1x0.svg)
-![Update Float 1x1x1](update1x1x1.svg)
-![Predict Float 1x1x0](predict1x1x0.svg)
-![Predict Float 1x1x1](predict1x1x1.svg)
-![Function Call Operator 1x1x0](operator1x1x0.svg)
-![Function Call Operator 1x1x1](operator1x1x1.svg)
+# Benchmarks
+
+Build and run the benchmarks on all platforms:
+
+```shell
+git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman"
+cmake -S "kalman" -B "build" -G "Ninja Multi-Config"
+cmake --build "build" --config "Release" --parallel
+ctest --test-dir "build" --tests-regex "kalman_benchmark"
+```
+
+Plot the results on Linux:
+
+```shell
+./kalman/benchmark/script/plot.sh
+```
+
+# Results
+
+Run on Microsoft Windows 10 on native x64 with Visual Studio 2022 compiler 19.33 in release mode.
+
+![Float](image/float.svg)
+![Float 1x1x0](image/float1x1x0.svg)
+![Float 1x1x1](image/float1x1x1.svg)
+![Baseline](image/baseline.svg)
+![Update Float 1x1x0](image/update1x1x0.svg)
+![Update Float 1x1x1](image/update1x1x1.svg)
+![Predict Float 1x1x0](image/predict1x1x0.svg)
+![Predict Float 1x1x1](image/predict1x1x1.svg)