pybound_mathlib

Bind PX4 mathlib classes to python for class level testing and visualization.

What's here?

Top-level directories:

px4_platform_common/ contains copies of headers with some basic PX4 defines. Current upstream implementations found here.

filter/ contains copies of the mathlib filter headers. Current upstream implementations found here.

matrix/ contains copies of the mathlib matrix headers. Current upstream implementations found here.

pybindings/ contains the python bindings for the C++ classes in the filter/ directory.

tests/ contains python based tests and/or visualizations for the various python-bound classes.

C++11 support

Python 3.8

virtualenv 20.13.0

Clone the repo. Note pybind11 is included as submodule.

git clone --recursive git@github.com:tstastny/pybound_mathlib.git

Create a virtual environment in the root directory of the cloned repo and activate it.

python3 -m venv venv
source venv/bin/activate

Install the requirements.

pip3 install -r requirements.txt

mkdir build
cd build
cmake ..
make pybound_mathlib
cd ..

e.g.

cd tests/
python3 second_order_reference_model_discretization_method_test.py