CRA

.devcontainer/Dockerfile

@@ -1,33 +1,14 @@
 FROM ubuntu:latest
 
-# Set environment variables for non-interactive installation and set micromamba paths
-ENV DEBIAN_FRONTEND=noninteractive \
-    MAMBA_ROOT_PREFIX=/opt/micromamba \
-    PATH=/opt/micromamba/bin:$PATH \
-    MAMBA_DOCKERFILE_ACTIVATE=1
+# Set environment variables for non-interactive installation
+ENV DEBIAN_FRONTEND=noninteractive
 
-# Install system dependencies and micromamba
-RUN apt-get update && apt-get -y upgrade && \
-    apt-get install -y --no-install-recommends \
-        curl \
-        ca-certificates \
-        bzip2 && \
-    curl -L https://micromamba.snakepit.net/api/micromamba/linux-64/latest | \
-        tar -xvj -C /usr/local/bin --strip-components=1 bin/micromamba
-
-# Initialize micromamba for all future shells (important)
-RUN echo 'eval "$(micromamba shell hook --shell bash)"' >> /etc/bash.bashrc
+# Install ca-certificates for HTTPS support in install.sh
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends ca-certificates && \
+    rm -rf /var/lib/apt/lists/*
 
-# Clean up micromamba install tools and continue with other packages
-RUN apt-get purge -y curl bzip2 && \
-    apt-get autoremove -y && \
-    apt-get clean
-
-# Copy the install script into the container
 COPY install.sh /tmp/install.sh
 
-# Run the script with loggin on and remove it in a single layer
-RUN chmod +x /tmp/install.sh && /tmp/install.sh || (cat /tmp/install.log && exit 1) && \
-    rm -f /tmp/install.sh /tmp/install.log && \
-    rm -rf /var/lib/apt/lists/*
-
+RUN chmod +x /tmp/install.sh && /tmp/install.sh && \
+    rm -f /tmp/install.sh

.devcontainer/devcontainer.json

@@ -4,6 +4,6 @@
   "service": "dev",
   "workspaceFolder": "/workspace",
   "overrideCommand": true,
-  "postCreateCommand": "git config --global user.name \"${GIT_AUTHOR_NAME:-Your Name}\" && git config --global user.email \"${GIT_AUTHOR_EMAIL:-you@example.com}\" && /workspace/tools/setup-tools-envs.sh && /workspace/build.sh cmake",
+  "postCreateCommand": "git config --global user.name \"${GIT_AUTHOR_NAME:-Your Name}\" && git config --global user.email \"${GIT_AUTHOR_EMAIL:-you@example.com}\"",
   "shutdownAction": "stopCompose"
 }

.devcontainer/docker-compose.yml

@@ -9,7 +9,4 @@ services:
       dockerfile: .devcontainer/Dockerfile
     volumes:
       - ..:/workspace:cached
-      - micromamba-data:/opt/micromamba
     command: sleep infinity
-volumes:
-  micromamba-data:

CMakeLists.txt

@@ -134,13 +134,29 @@ add_library(${STB_IMAGE} STATIC ${STB_IMAGE_SRC})
 target_compile_definitions(${STB_IMAGE} PRIVATE STB_IMAGE_IMPLEMENTATION)
 target_include_directories(${STB_IMAGE} PUBLIC $<BUILD_INTERFACE:${CACHE_DIR}>)
 
+##### Eigen #####
+
+# Disable Eigen's own tests and docs to speed up configuration
+set(BUILD_TESTING OFF CACHE BOOL "" FORCE)
+set(EIGEN_BUILD_DOC OFF CACHE BOOL "" FORCE)
+set(EIGEN_BUILD_PKGCONFIG OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    eigen
+    GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+    GIT_TAG 3.4.0
+    GIT_SHALLOW ON
+    EXCLUDE_FROM_ALL
+)
+FetchContent_MakeAvailable(eigen)
+
 # Set the source libraries
 set(SRC_LIBS ${STB_IMAGE})
 
 ##### FOUND Library #####
 
 add_library(found_lib STATIC ${FILTERED_SRC})
-target_link_libraries(found_lib PRIVATE ${STB_IMAGE})
+target_link_libraries(found_lib PUBLIC Eigen3::Eigen PRIVATE ${STB_IMAGE})
 target_include_directories(found_lib
         PUBLIC
         $<BUILD_INTERFACE:${SRC_DIR}>
@@ -220,6 +236,7 @@ add_executable(found-test EXCLUDE_FROM_ALL ${TEST} ${FILTERED_SRC})
 target_compile_definitions(found-test PRIVATE ENABLE_LOGGING
                                                 LOGGING_LEVEL=INFO)
 target_compile_options(found-test PRIVATE
+    -Wdouble-promotion -Werror
     --coverage
     -pthread
     $<$<NOT:$<BOOL:${OMIT_ASAN}>>:-fsanitize=address>
@@ -228,6 +245,7 @@ target_compile_options(found-test PRIVATE
 target_link_libraries(found-test PRIVATE
     --coverage
     ${TEST_LIBS}
+    Eigen3::Eigen
     $<$<NOT:$<BOOL:${OMIT_ASAN}>>:-fsanitize=address>
     $<$<NOT:$<BOOL:${OMIT_ASAN}>>:-fomit-frame-pointer>)
 set_target_properties(found-test PROPERTIES

Makefile

@@ -52,6 +52,14 @@ DOXYGEN_AWESOME_URL := https://github.com/jothepro/$(DOXYGEN_AWESOME)/archive/re
 DOXYGEN_AWESOME_ZIP := $(CACHE_DIR)/v$(DOXYGEN_AWESOME_VERSION).tar.gz
 DOXYGEN_AWESOME_ARTIFACT := $(CACHE_DIR)/$(DOXYGEN_AWESOME)-$(DOXYGEN_AWESOME_VERSION)
 
+# Define the Eigen library
+EIGEN := eigen
+EIGEN_VERSION := 3.4.0
+EIGEN_URL := https://gitlab.com/libeigen/eigen/-/archive/$(EIGEN_VERSION)/eigen-$(EIGEN_VERSION).tar.gz
+EIGEN_CACHE_ARTIFACT := $(CACHE_DIR)/eigen-$(EIGEN_VERSION).tar.gz
+EIGEN_CACHE_DIR := $(CACHE_DIR)/eigen-$(EIGEN_VERSION)
+EIGEN_DIR := $(BUILD_LIBRARY_SRC_DIR)/eigen-$(EIGEN_VERSION)
+
 
 # Define all source and test code
 SRC := $(shell find $(SRC_DIR) -name "*.cpp")
@@ -88,8 +96,8 @@ endif
 LOGGING_MACROS_TEST := -DENABLE_LOGGING -DLOGGING_LEVEL=INFO
 
 # Compiler flags
-LIBS := $(SRC_LIBS) -I$(BUILD_LIBRARY_SRC_DIR)
-LIBS_TEST := $(TEST_LIBS) -I$(GTEST_DIR)/$(GTEST)/include -I$(GTEST_DIR)/googlemock/include -pthread
+LIBS := $(SRC_LIBS) -I$(BUILD_LIBRARY_SRC_DIR) -isystem $(EIGEN_DIR)
+LIBS_TEST := $(TEST_LIBS) -isystem $(EIGEN_DIR) -I$(GTEST_DIR)/$(GTEST)/include -I$(GTEST_DIR)/googlemock/include -pthread
 DEBUG_FLAGS := -ggdb -fno-omit-frame-pointer
 COVERAGE_FLAGS := --coverage
 CXXFLAGS := $(CXXFLAGS) -Wall -Wextra -Wno-missing-field-initializers -Werror -pedantic --std=gnu++17 -MMD $(LIBS) $(FOUND_FLOAT_MODE_MACRO)
@@ -154,7 +162,7 @@ all: $(COMPILE_SETUP_TARGET) \
 	 $(DOXYGEN_TARGET) \
 
 # The build setup target (sets up appropriate directories)
-$(COMPILE_SETUP_TARGET): compile_setup_message $(BUILD_DIR) $(STB_IMAGE_DIR)
+$(COMPILE_SETUP_TARGET): compile_setup_message $(BUILD_DIR) $(STB_IMAGE_DIR) $(EIGEN_DIR)
 $(BUILD_DIR):
 	mkdir -p $(BUILD_DIR)
 	mkdir -p $(BUILD_DOCUMENTATION_DIR)
@@ -173,11 +181,18 @@ $(STB_IMAGE_CACHE_ARTIFACT):
 	echo '#define STB_IMAGE_IMPLEMENTATION\n#include "stb_image/stb_image.h"' > $(STB_IMAGE_CACHE_ARTIFACT)
 	$(CXX) -I$(CACHE_DIR) -c $(STB_IMAGE_CACHE_ARTIFACT) -o $(STB_IMAGE_CACHE_DIR)/$(STB_IMAGE).o # Exclude CXXFLAGS because we know its fine
 
+# Eigen header-only library (download and extract)
+$(EIGEN_DIR): $(EIGEN_CACHE_ARTIFACT) $(BUILD_LIBRARY_SRC_DIR)
+	tar -xzf $(EIGEN_CACHE_ARTIFACT) -C $(BUILD_LIBRARY_SRC_DIR)
+$(EIGEN_CACHE_ARTIFACT):
+	mkdir -p $(CACHE_DIR)
+	wget $(EIGEN_URL) -P $(CACHE_DIR)
+
 # The compile target
 $(COMPILE_TARGET): $(COMPILE_SETUP_TARGET) compile_message $(BIN)
-$(BIN): $(SRC_OBJS) $(BIN_DIR) $(STB_IMAGE_DIR)
+$(BIN): $(SRC_OBJS) $(BIN_DIR) $(STB_IMAGE_DIR) $(EIGEN_DIR)
 	$(CXX) $(OPTIMIZATION) $(CXXFLAGS) -o $(BIN) $(SRC_OBJS) $(LDFLAGS)
-$(BUILD_SRC_DIR)/%.o: $(SRC_DIR)/%.cpp $(STB_IMAGE_DIR)
+$(BUILD_SRC_DIR)/%.o: $(SRC_DIR)/%.cpp $(STB_IMAGE_DIR) $(EIGEN_DIR)
 	mkdir -p $(@D)
 	$(CXX) $(OPTIMIZATION) $(CXXFLAGS) -c $< -o $@
 compile_message:

src/calibrate/calibrate.cpp

@@ -7,7 +7,7 @@
 namespace found {
 
 Quaternion LOSTCalibrationAlgorithm::Run(const std::pair<EulerAngles, EulerAngles> &orientations) {
-    return SphericalToQuaternion(orientations.first) * SphericalToQuaternion(orientations.second).Conjugate();
+    return SphericalToQuaternion(orientations.first) * SphericalToQuaternion(orientations.second).conjugate();
 }
 
 }  // namespace found

src/command-line/execution/executors.cpp

@@ -1,8 +1,8 @@
 #include "command-line/execution/executors.hpp"
 
+#include <algorithm>
 #include <memory>
 #include <utility>
-#include <cstring>
 
 #include "common/logging.hpp"
 #include "common/time/time.hpp"
@@ -26,10 +26,10 @@ void CalibrationPipelineExecutor::ExecutePipeline() {
 void CalibrationPipelineExecutor::OutputResults() {
     // Output the results of the calibration
     Quaternion *&calibrationQuaternion = this->pipeline_.GetProduct();
-    LOG_INFO("Calibration Quaternion: (" << calibrationQuaternion->real << ", "
-                                         << calibrationQuaternion->i << ", "
-                                         << calibrationQuaternion->j << ", "
-                                         << calibrationQuaternion->k << ")");
+    LOG_INFO("Calibration Quaternion: (" << calibrationQuaternion->w() << ", "
+                                         << calibrationQuaternion->x() << ", "
+                                         << calibrationQuaternion->y() << ", "
+                                         << calibrationQuaternion->z() << ")");
     DataFile outputDF{};
     outputDF.relative_attitude = *calibrationQuaternion;
     std::ofstream outputFile(this->options_.outputFile);
@@ -61,10 +61,10 @@ void DistancePipelineExecutor::ExecutePipeline() {
 
 void DistancePipelineExecutor::OutputResults() {
     PositionVector *&positionVector = this->pipeline_.GetProduct();
-    LOG_INFO("Calculated Position: (" << positionVector->x << ", "
-                                      << positionVector->y << ", "
-                                      << positionVector->z << ") m");
-    LOG_INFO("Distance from Earth: " << positionVector->Magnitude() << " m");
+    LOG_INFO("Calculated Position: (" << positionVector->x() << ", "
+                                      << positionVector->y() << ", "
+                                      << positionVector->z() << ") m");
+    LOG_INFO("Distance from Earth: " << positionVector->norm() << " m");
     // TODO: Figure out a much more optimized way of doing this please, especially
     // since we're saving it into the exact same file, there should be an easy way
     // to simply modify the file directly instead of this mess.
@@ -73,9 +73,9 @@ void DistancePipelineExecutor::OutputResults() {
         outputDF.header = this->options_.calibrationData.header;
         outputDF.relative_attitude = this->options_.calibrationData.relative_attitude;
         outputDF.positions = std::make_unique<LocationRecord[]>(outputDF.header.num_positions + 1);
-        std::memcpy(outputDF.positions.get(),
-                    this->options_.calibrationData.positions.get(),
-                    outputDF.header.num_positions);
+        std::copy(this->options_.calibrationData.positions.get(),
+                  this->options_.calibrationData.positions.get() + outputDF.header.num_positions,
+                  outputDF.positions.get());
     } else {
         outputDF.relative_attitude = SphericalToQuaternion(this->options_.relOrientation);
         outputDF.positions = std::make_unique<LocationRecord[]>(1);
@@ -106,9 +106,9 @@ void OrbitPipelineExecutor::ExecutePipeline() {
 void OrbitPipelineExecutor::OutputResults() {
     // TODO: Output this somewhere
     [[maybe_unused]] LocationRecord &futurePosition = this->pipeline_.GetProduct()->back();
-    LOG_INFO("Calculated Future Position: (" << futurePosition.position.x << ", "
-                                             << futurePosition.position.y << ", "
-                                             << futurePosition.position.z << ") m"
+    LOG_INFO("Calculated Future Position: (" << futurePosition.position.x() << ", "
+                                             << futurePosition.position.y() << ", "
+                                             << futurePosition.position.z() << ") m"
                                              << " at time "
                                              << futurePosition.timestamp << " s");
 }