This library contains reusable code for:

• Estimation
• Kinematics
• Optimization
• Vision
• and more ..

• Boost 1.54
• Ceres 1.13
• Eigen 3.3.2
• Kindr 1.0.4
• OpenCV 3.2.0
• PCL 1.8
• yaml-cpp 0.5.1
• CMake 2.8.3
• GCC 5.4

The above versions are the minimum we test against. Some earlier versions may work, but are not tested. For convenience, we provide a script which installs these dependencies (except GCC) on Ubuntu 14.04 or Ubuntu 16.04, in scripts/install/install_deps.bash.

Execute the following in the terminal where you want libwave to reside:

curl -L https://git.io/vyKXR > install.bash && bash install.bash

Or you can perform the installation manually:

# clone repo
git clone https://github.com/wavelab/libwave.git
cd libwave

# initialize git submodules
git submodule init
git submodule update

# install dependencies
bash scripts/install/install_deps.bash

# compile libwave
mkdir -p build
cd build
cmake ..
make

Install libwave with make install. Alternatively, you can enable the EXPORT_BUILD option in CMake, which will make the libwave build directory searchable by CMake without installation.

One libwave has been either installed or exported by CMake, it can be used in your project's CMakeLists.txt file as follows:

cmake_minimum_required(VERSION 3.0)
project(example)

find_package(wave REQUIRED)

# Add a target depending on all of libwave
add_executable(example example.cpp)
target_link_libraries(example wave::wave)

# Add a target depending on certain libwave components
add_executable(example2 example2.cpp)
target_link_libraries(example2 wave::geometry wave::containers)

The documentation consists of an API reference as well as pages on Fundamentals, describing concepts and theory behind the library.

It is generated using Doxygen, using the build target make doc.

To expedite our development process we use a set of git hooks to run:

• Clang format (pre-commit)

these can be activated by running the githook_init.bash from the root of the repo

bash scripts/githooks/githooks_init.bash

Copyright (c) <2017>

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

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 OR COPYRIGHT HOLDERS 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.