Add doxygen deployment

.doxyfile

@@ -263,12 +263,6 @@ TAB_SIZE               = 4
 
 ALIASES                =
 
-# This tag can be used to specify a number of word-keyword mappings (TCL only).
-# A mapping has the form "name=value". For example adding "class=itcl::class"
-# will allow you to use the command class in the itcl::class meaning.
-
-TCL_SUBST              =
-
 # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
 # only. Doxygen will then generate output that is more tailored for C. For
 # instance, some of the names that are used will be different. The list of all
@@ -829,7 +823,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = include/ src/ docs/
+INPUT                  = src/ docs/ README.md
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -917,7 +911,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = docs/doxygen/doxygen-awesome-css
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1026,7 +1020,7 @@ FILTER_SOURCE_PATTERNS =
 # (index.html). This can be useful if you have a project on for instance GitHub
 # and want to reuse the introduction page also for the doxygen output.
 
-USE_MDFILE_AS_MAINPAGE =
+USE_MDFILE_AS_MAINPAGE = README.md
 
 #---------------------------------------------------------------------------
 # Configuration options related to source browsing
@@ -1154,13 +1148,6 @@ CLANG_DATABASE_PATH    =
 
 ALPHABETICAL_INDEX     = YES
 
-# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
-# which the alphabetical index list will be split.
-# Minimum value: 1, maximum value: 20, default value: 5.
-# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
-
-COLS_IN_ALPHA_INDEX    = 5
-
 # In case all classes in a project start with a common prefix, all classes will
 # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
 # can be used to specify a prefix (or a list of prefixes) that should be ignored
@@ -1246,7 +1233,7 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_STYLESHEET  = docs/doxygen/doxygen-awesome-css/doxygen-awesome.css
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note

.github/workflows/documentation.yaml

@@ -0,0 +1,46 @@
+name: Documentation
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  build-documentation:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - name: Count Lines of Code
+        uses: JHartzer/[email protected]
+        with:
+          options: --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md --report-file=cloc.md
+      - name: Format and move cloc.md
+        run: |
+          echo -e 'Count Lines of Code {#cloc}\n============\n' > docs/software/cloc.md
+          cat cloc.md | tail -n +4 >> docs/software/cloc.md
+          sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/software/cloc.md
+          rm cloc.md
+      - name: Run Doxygen
+        uses: mattnotmitt/[email protected]
+        with:
+          doxyfile-path: .doxyfile
+      - name: Upload Artifact
+        uses: actions/upload-pages-artifact@v1
+        with:
+          path: docs/doxygen/html
+  deploy-documentation:
+    needs: build-documentation
+    permissions:
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v2

.gitignore

@@ -3,5 +3,6 @@
 */__pycache__/
 
 # Generated Docs
-docs/doxygen/
+docs/doxygen/html
+docs/doxygen/latex
 docs/software/cloc.md

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "docs/doxygen/html/doxygen-awesome-css"]
+    path = docs/doxygen/html/doxygen-awesome-css
+    url = https://github.com/jothepro/doxygen-awesome-css.git
+[submodule "docs/doxygen/doxygen-awesome-css"]
+	path = docs/doxygen/doxygen-awesome-css
+	url = https://github.com/jothepro/doxygen-awesome-css.git

.vscode/tasks.json

@@ -94,7 +94,7 @@
             "label": "cloc",
             "detail": "Count Lines of Code",
             "type": "shell",
-            "command": "echo 'Count Lines of Code {#cloc}\n============\n\n' > docs/cloc.md && cloc . --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md | tail -n +5 >> docs/cloc.md && sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/cloc.md",
+            "command": "echo 'Count Lines of Code {#cloc}\n============' > docs/software/cloc.md && cloc . --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md | tail -n +4 >> docs/software/cloc.md && sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/software/cloc.md",
             "options": {
                 "cwd": "${workspaceFolder}"
             },

CITATION.cff

@@ -8,4 +8,4 @@ title: "EKF-CAL"
 version: 0.2.0
 # doi:
 # date-released:
-url: "https://github.com/JHartzer/ekf-cal"
+url: "https://github.com/unmannedlab/ekf-cal"

README.md

@@ -1,94 +1,19 @@
 # EKF_CAL
+[![Documentation](https://github.com/unmannedlab/ekf-cal/actions/workflows/documentation.yaml/badge.svg)](https://github.com/unmannedlab/ekf-cal/actions/workflows/documentation.yaml)
 
-Extended Kalman Filter - Calibration and Localization
+Extended Kalman Filter Calibration and Localization: EKF-CAL is a package focused on the simulation
+and development of a multi-sensor online calibration kalman filter. It combines the architecture of
+a Multi-State Constraint Kalman Filter (MSCKF) with a multi-IMU calibration filter to provide
+estimates of intrinsic and extrinsic sensor calibration parameters.
 
-## Dependencies
-The EKF_CAL package has the following hard dependencies that are required for all compilations:
-- [OpenCV](https://opencv.org/)
-- [Eigen 3](https://eigen.tuxfamily.org/index.php?title=Main_Page)
-
-The following dependencies are for building the ROS node and simulation, respectively
-- [ROS2](https://docs.ros.org/en/rolling/index.html)
-- [yaml-cpp](https://github.com/jbeder/yaml-cpp)
-
-The following soft dependencies useful for development and documentation
-- [Doxygen](https://www.doxygen.nl/index.html)
-- [Google Test](https://google.github.io/googletest/)
-
-These can be installed by running `rosdep` in the base directory of this repo
-```
-rosdep install --from-paths src -y --ignore-src
-```
-
-## Build
-Building can be done simply with the following command:
-
-```
-colcon build --symlink-install --packages-select ekf_cal
-```
-
-For full CMake support, the following environment variables are expected:
-- PLANTUML_INSTALL_DIR
-- ROS_DISTRO
-
-## Testing & Static Analysis
-Once the package has been built, unit tests and static analysis can be run with the following commands
-```
-colcon test --packages-select ekf_cal --event-handlers console_direct+
-```
-
-A test code coverage report can be generated using the following commands
-``` 
-colcon build --symlink-install --packages-select ekf_cal \
-   --event-handlers console_cohesion+ \
-   --cmake-args -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'
-
-colcon test --packages-select ekf_cal --pytest-with-coverage \ 
-   --pytest-args --cov-report=term --event-handlers console_direct+
-
-colcon lcov-result --packages-select ekf_cal --filter '*_test.cpp' '*_main.cpp'
-```
-
-## Documentation
-Documentation can be generated using the following command:
-```
-doxygen .doxyfile
-```
-
-A single pdf can be generated of the documentation using the following command
-```
-doxygen .doxyfile && cd docs/doxygen/latex && make
-```
-
-## Launch
-For an example of a filter node launch file, see [example.launch.py](launch/example.launch.py)
-
-In particular, note the configuration file [example.yaml](config/example.yaml).
-
-The configuration file specifies which sensor topics should to use and the initialization values.
-
-## Simulations
-Simulations can be run using a YAML configuration file that extends the base configuration file
-with additional parameters. See the example [example.yaml](config/example.yaml).
-
-Multiple simulations can be run in parallel using the [run.py](eval/run.py). An example
-using a single input is given below
-
-```
-python3 eval/run.py config/example.yaml
-```
-
-The results of a run can be plotted using [plot.py](eval/plot.py)
-```
-python3 eval/plot.py config/example.yaml
-```
-
-To run and plot in sequence, utilize [evaluate.py](eval/evaluate.py)
-```
-python3 eval/evaluate.py config/example.yaml
-```
+For full documentation, please see below:
+- [Github Repository](https://github.com/unmannedlab/ekf-cal/)
+- [Documentation](https://unmannedlab.org/ekf-cal/)
+- [Getting Started](https://unmannedlab.org/ekf-cal/tutorial.html)
 
 ## References
 1. J. Hartzer and S. Saripalli, "
    Online Multi Camera-IMU Calibration", 
-   IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022
+   IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022.
+   [IEEE](https://doi.org/10.1109/SSRR56537.2022.10018692),
+   [arXiv](https://arxiv.org/abs/2209.13821)

TODO

@@ -17,6 +17,7 @@ Package Features:
     - Condition and distance thresholds
     - Check covariance matrix condition
     - Perfect prediction flag
+    - Add colcon build/test action to github
 
     GPS Updater:
         - LLA to NED calibration

config/example.yaml

@@ -13,7 +13,7 @@
             AngFrequency: [0.2, 0.3, 0.4]
             PosOffset: [0.0, 0.0, 0.0]
             NoErrors: False
-            NumberOfRuns: 10
+            NumberOfRuns: 100
             RunNumber: 0
 
         IMU_list:
@@ -51,7 +51,7 @@
             vn100:
                 UseForPrediction: False
                 BaseSensor: False
-                Intrinsic: True
+                Intrinsic: False
                 Rate: 100.0
                 Topic: "/vn100/imu_uncompensated"
                 VarInit: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]

docs/filter/multi-imu.md

@@ -1,21 +1,18 @@
 Multi-IMU Filtering {#multi-imu}
 ============
 
-
-\begin{equation} \label{eq:pred_measurement}
-    \begin{split}
-        &\boldsymbol{h}(\boldsymbol{x}_{b}) = \\
-        &\begin{bmatrix}
-            \mathcal{C}(\prescript{B}{I_i}{q})^T
-            \left(
-            \mathcal{C}(\prescript{G}{B}{q})^T \boldsymbol{a} +
-            \boldsymbol{\alpha} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} +
-            \boldsymbol{\omega} \times \boldsymbol{\omega} \times \prescript{B}{}{\boldsymbol{p}}_{I_i}
-            \right)
-            \\
-            \mathcal{C}(\prescript{B}{I_i}{q})^T
-            \mathcal{C}(\prescript{G}{B}{q})^T
-            \boldsymbol{\omega}
-        \end{bmatrix}
-    \end{split}
-\end{equation}
+\f{align}{
+\boldsymbol{h}(\boldsymbol{x}_{b}) = 
+\begin{bmatrix}
+    \mathcal{C}(\prescript{B}{I_i}{q})^T
+    \left(
+    \mathcal{C}(\prescript{G}{B}{q})^T \boldsymbol{a} +
+    \boldsymbol{\alpha} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} +
+    \boldsymbol{\omega} \times \boldsymbol{\omega} \times \prescript{B}{}{\boldsymbol{p}}_{I_i}
+    \right)
+    \\
+    \mathcal{C}(\prescript{B}{I_i}{q})^T
+    \mathcal{C}(\prescript{G}{B}{q})^T
+    \boldsymbol{\omega}
+\end{bmatrix}
+\f}