Initial public release of VAMP

Co-authored-by: Wil Thomason <wil.thomason@gmail.com>

.clang-format

@@ -0,0 +1,57 @@
+---
+BasedOnStyle: Google
+
+AccessModifierOffset: -4
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortFunctionsOnASingleLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+AlignAfterOpenBracket: AlwaysBreak
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: false
+BreakBeforeBraces: Allman
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit: 110
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerBinding: false
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+IndentWidth: 4
+InsertBraces: true
+Language: Cpp
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: All
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString:        1
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+PointerAlignment: Right
+PointerBindsToType: false
+SeparateDefinitionBlocks: Always
+SortIncludes: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+Standard: Cpp11
+TabWidth: 4
+UseTab: Never
+QualifierAlignment: Custom
+QualifierOrder: ['inline', 'static', 'constexpr', 'const', 'type']

.dockerignore

@@ -0,0 +1,21 @@
+docker/
+.git/
+.gitignore
+.gitmodules
+
+
+build/
+.cache/
+compile_commands.json
+*.out.*
+*.swp
+*.swo
+resources/*/problems/
+*.log
+*.png
+__pycache__/
+problems.json
+problems.pkl
+*.pyc
+*.pyo
+*.pyd

.github/ISSUE_TEMPLATE/bug-error.md

@@ -0,0 +1,26 @@
+---
+name: Bug/Error
+about: Describe a technical issue
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. ...
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Environment:**
+ - OS: [e.g. iOS]
+ - Python version:
+ - GCC/Clang version:
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/workflows/build.yml

@@ -0,0 +1,92 @@
+name: Build Check
+
+on:
+  push:
+    paths:
+      - src/impl/**
+      - CMakeLists.txt
+      - cmake/Dependencies.cmake
+    branches:
+      - main
+
+  pull_request:
+    paths:
+      - src/impl/**
+      - CMakeLists.txt
+      - cmake/Dependencies.cmake
+    branches:
+      - main
+
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-22.04, macos-latest]
+        build_type: [Release]
+        c_compiler: [gcc, clang]
+        include:
+          - os: ubuntu-20.04
+            c_compiler: gcc
+            cpp_compiler: g++
+          - os: ubuntu-20.04
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: ubuntu-22.04
+            c_compiler: gcc
+            cpp_compiler: g++
+          - os: ubuntu-22.04
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: macos-latest
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: macos-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Set reusable strings
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+
+    - name: Install packages (Linux)
+      if: runner.os == 'Linux'
+      run: >
+        sudo apt-get install -y libeigen3-dev llvm
+
+
+    - name: Install packages (MacOS)
+      if: runner.os == 'macOS'
+      run: >
+        brew install eigen
+
+    - name: Install GCC (MacOS)
+      if: runner.os == 'macOS' && matrix.c_compiler == 'gcc'
+      run: >
+        brew install gcc
+
+
+    - name: Install Python packages
+      run: >
+        pip install typing_extensions
+
+    - name: Configure CMake
+      run: >
+        cmake -B ${{ steps.strings.outputs.build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}
+
+    - name: Build
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}

.github/workflows/format.yml

@@ -0,0 +1,43 @@
+name: Format Check
+
+on:
+  push:
+    paths:
+      - src/**
+      - scripts/**
+    branches:
+      - main
+
+  pull_request:
+    paths:
+      - src/**
+      - scripts/**
+    branches:
+      - main
+
+  workflow_dispatch:
+
+jobs:
+  formatting-check:
+    name: Formatting Check
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install packages
+      run: |
+        wget https://apt.llvm.org/llvm.sh
+        chmod +x llvm.sh
+        yes | sudo ./llvm.sh 16 || true
+        sudo apt-get install -y clang-format-16 python3-pip
+        pip install yapf
+
+    - name: Run clang-format style check.
+      run: >
+        find . -iname *.hh -o -iname *.cc | xargs -I{} clang-format-16 --dry-run -Werror {}
+
+    - name: Run yapf style check.
+      run: >
+        find . -iname *.py | xargs -I{} yapf -d {}

.gitignore

@@ -0,0 +1,20 @@
+build/
+.cache/
+compile_commands.json
+*.out.*
+*.swp
+*.swo
+resources/*/problems/
+*.log
+*.png
+__pycache__/
+problems.json
+problems.pkl
+*.pyc
+*.pyo
+*.pyd
+*.el
+venv/
+/resources/panda/*.json
+/resources/panda/*.pkl
+src/vamp/_core/*.pyi

.style.yapf

@@ -0,0 +1,21 @@
+[style]
+based_on_style = pep8
+column_limit = 110
+
+spaces_around_default_or_named_assign = true
+spaces_before_comment = 4, 6, 8, 10, 12, 16, 20, 24, 28, 32, 36, 40, 44, 48, 52
+
+split_before_first_argument = true
+split_all_top_level_comma_separated_values = true
+split_before_dot = true
+split_before_logical_operator = true
+split_complex_comprehension = true
+
+blank_line_before_nested_class_or_def = true
+blank_lines_around_top_level_definition = 2
+
+indent_closing_brackets = true
+align_closing_bracket_with_visual_indent = true
+
+use_tabs = False
+indent_width = 4

CITATION.bib

@@ -0,0 +1,8 @@
+@InProceedings{vamp,
+  title = {Motions in Microseconds via Vectorized Sampling-Based Planning},
+  author = {Thomason, Wil and Kingston, Zachary and Kavraki, Lydia E.},
+  booktitle = {IEEE International Conference on Robotics and Automation},
+  date = {2024},
+  url = {http://arxiv.org/abs/2309.14545},
+  note = {To Appear.}
+}