mathbox

A general purpose math library based on Eigen. It is currently a header-only library.

Core C++ Library

Dependency	Version	Description
CMake	>= 3.21	CMake Build Tool
cmakebox	>= 0.0.13	CMake Functions and Utilities
cppbox	>= 0.2.5	C++ Package
Eigen3	>= 3.4.0	Linear Algebra Package

There are several ways to include mathbox within your project:

• [Preferred] Via FetchContent allowing package to be built as a submodule.
• Via find_package, requiring package to be installed to the system, locally, or to a catkin workspace.

Include via FetchContent

It is recommended to leverage the functionality of cmakebox by including the following lines in the CMakeLists.txt (replace X.Y.Z with versions):

set(CMAKEBOX_VERSION "X.Y.Z")
FetchContent_Declare(
    cmakebox
    GIT_REPOSITORY git@github.com:willat343/cmakebox.git
    GIT_TAG v${CMAKEBOX_VERSION}
)
FetchContent_MakeAvailable(cmakebox)
list(APPEND CMAKE_MODULE_PATH "${cmakebox_SOURCE_DIR}/cmake")
include(CMakeBox)

set(MATHBOX_VERSION "X.Y.Z")
import_dependency(
    mathbox
    TARGET mathbox::mathbox
    VERSION ${MATHBOX_VERSION}
    GIT_REPOSITORY git@github.com:willat343/mathbox
    GIT_TAG v${MATHBOX_VERSION}
)

Without relying on cmakebox, this can be achieved with (replace X.Y.Z with version):

set(MATHBOX_VERSION "X.Y.Z")
FetchContent_Declare(
    mathbox
    GIT_REPOSITORY git@github.com:willat343/mathbox
    GIT_TAG        v${MATHBOX_VERSION}
)
FetchContent_MakeAvailable(mathbox)

Include via Install

Clone

git clone git@github.com:willat343/mathbox.git
cd mathbox

Configure

cmake -G Ninja -S . -B build

For local install add -DCMAKE_INSTALL_DIR=$HOME/.local.

Build

cmake --build build -j

Install

sudo cmake --build build --target install

Include

Include with the following lines in the CMakeLists.txt:

find_package(mathbox REQUIRED)
target_link_libraries(<target> PUBLIC mathbox::mathbox)

Uninstall

sudo cmake --build build --target uninstall

Include in Catkin Workspace

A package.xml is supplied to facilitate an isolated installation within a catkin workspace (e.g. for ROS applications).

Clone

cd /path/to/catkin_ws/src
git clone git@github.com:willat343/mathbox.git

Build

cd /path/to/catkin_ws
catkin build mathbox

Include

To use the package in a downstream project, one should add to their package.xml:

<depend>mathbox</depend>

One can then include mathbox package by includeing in the CMakeLists.txt:

find_package(mathbox REQUIRED)
target_link_libraries(<target> PUBLIC mathbox::mathbox)

Clean

cd /path/to/catkin_ws
catkin clean mathbox

Documentation

Documentation must be turned on by setting the -DBUILD_DOCUMENTATION=ON cmake argument.

To view the HTML documentation, open the build/docs/html/index.html file.

To view the LaTeX documentation, build it with:

cd build/docs/latex
make

Then open the file refman.pdf.

Tests

Tests must be turned on by setting the -DBUILD_TESTING=ON cmake argument.

They can then be run with ctest:

ctest --test-dir test

For more explicit output, the test executables can be run directly from the build directory.